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if the grease is greenish brown id say its contaminated, means the boot on that CV is likely torn, if so that could very well be your problem, and if it isnt then it will be the problem before too much longer, you will need to replace that shaft at this point.
prop shafts? do you mean the driveshaft? (from t-case to front differential?) or the axle shafts (parts that have the cvs and go from the differential to the wheel)
if you mean driveshaft then yes they are the same part # in the parts manual
52105982AC