If its a chirping noise, my guess is that it is a universal joint. They do that when they are out of grease and worn, chirping from metal to metal contact. I'll bet you hear it when you just take off from a stop, or going very slow. This from past experience.
Gary, pretty much. All around 20mph it will start when slowing, stop when going from a stop. It gets quicker/slower as the speed goes up and down. I can just hear it when it's under load like going up hill or passing. I'm starting to lean that way. They do have 90K miles on them.