Our family ride is a '00 Tahoe, and I thought somebody might have a thought about a noise I am hearing.

Old body style ('00 had both), with 3.73 gears. 42k miles, and the noise has been happening since the first couple years when I owned it new. When I pull up to a stop and take off again, I hear a 'chirp' of sorts from the rear of the truck. The 'chirp' is more of a 'small dog in a barrel chirp', not a birdy. It sounds like it might be coming from the rear brakes, or rear diff, or axle or something....

not too much info, but does anyone have any thoughts?

Thanks,
Scott.

The drive shaft slip yoke splines are binding in the transfercase(4wd) or transmission(2wd). To fix it you just need to remove the drive shaft and lube the splines. There is a GM Special lube that works the best.
http://www.gmdieseltech.com/store2/cart.php?target=product&action=view&product_id=16188&category_id=268


When removing the driveshaft chock the wheels first. Don't rely on the parking brake to hold the truck.

'small dog in a barrel' description?

Thanks!