WARNING: This page is about a different car, the 2008 Suzuki Grand Vitara, 2007 Suzuki Grand Vitara, and 2006 Suzuki Grand Vitara. However, it is still accessible from the selected car via links, so may be relevant.
Check that drive and bearing is not rough or worn.
Fig 1: Checking Bearing
Courtesy of SUZUKI OF AMERICA CORP.
Check that end housing bearing is not rough or worn.