Another thing that causes similar noise (just started getting this myself yesterday) is a warped brake rotor or a mal-fitting brake pad. It only makes any groaning sounds when you're going really slow.
Now I have to be a pain: 04stang, what are you thinking? Just waiting for the problem to go away while you build mod money is not a good idea in my book, or realities' book. Be a guy for a half hour, jack up your car, pull the inspection cover off the diff and look. You can't break anything doing that. If you see a bunch of metal bits all over and the spider gears are jacked up or if the clutches and steels are obviously damaged then you know your problem. It could be an axle bearing or a warped brake rotor but you'll never know if you don't at least look. Refill the diff with 75w-140 Synthetic GL-5 (Redline is good) and 1 4oz bottle of friction modifier (Equa-Torque), reseal the cover with black RTV.
And no, they can't void your warranty unless you try to repair it and make it worse. I fixed all kinda my own stuff while my car was under warranty and even the dikk dealers honored my warranty when I had an actual warranty issue.
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