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As a part of a major research program with the aim of improving heavy truck drive axle fuel efficiency, this work focuses on seal friction torque test development and establishing pinion seal and wheel seal friction torque baseline data. Pinion seal and wheel seal friction torque was measured. The effect of speed and temperature on pinion seal friction torque was assessed. The effect of several coatings on pinion seal friction torque was evaluated. Pinion seal friction torque was also calculated and calculation result was compared with test data. Finally the impact of seal friction and bearing friction on total drive axle power loss was discussed.