Was it in all gears or just one or two specific during the town driving? Look up in the drive pulley cavity with a light for a redish brown dust on the housing around the pulley. This may indicate the torque on your pulley nut has broke and the nut is backing off. Im not sure of the inspection milage on the 02 if it is 10K like the 99-01 or 15K as the 03-> but I will say not to procrastinate if there is any doubt. (ask me how I know)
If there is any doubt as to the dust or if the re-torque was done at the specified interval, I would strongly recommend starting there. Easy 1/2 day job and you know it will be done right doing it yourself and that rules out what it is not.
Post your results when you get a chance and if you an assist just holler.
2011 White Vision - Nuvi 550, Lowers, Lloydz 2nd filter, Vic perf filter, CB/Icom, 96 Brake LED's, Clear Signal lens/Switchbacks, VIC Hwy Pegs, Stebel Horn, 7Jurock 15" Shield, PCV, Lloyd ATS and Variable intake, Ness honkers
2004 V92 TC - S1 flash, level 1 slip-on, Ness big sucker K&N, ISO Grips, 4x1.5 Highway Hawg Risers, extra chrome (never too much), JM 2k CB 4' antena, Mustang seat, HD Front TS & Lowers, OD Pulley
Retired Navy SCPO