When I take off from a dead stop I hear pop in the rear end and it kind of jerks. Its hard to explain but its almost like it takes a second for the drivetrain to spin and make connection with the axle. I've been told this is a common thing among f150's but would like to hear from other owners.

 

I had this problem with my old truck and it was the rear seal on the drive shaft. Might be your problem I'm not for sure though

 

Might need to replace your u-joints

 

It is the well known (driveshaft clunk) more than likely, there is a u-tube video that lets you see exactly whats going on. Need a new D.S. yoke or entire D.S more than likely, niot a cheap fix. You can grease the yoke but it will come back.