This is totally in my opinion, I've been working on, engineering fixes, making modifications... etc on vehicles, trucks equipment for over 45 years, I'm not a back yard mechanic, I am very educated. So I think I know at least a little something about what is causing this issue.
In reference to the PIP5653G... I think GM is missing the actual cause of what is making the stub shaft hit the cross pin.
The clip and o-ring will help, short term, not permanently. The CV shaft is pushing the stub shaft inward toward the cross pin. Even with putting the o-ring in place, the new snap ring will hold the pin in place for a short time, but eventually, the snap ring will give way to the force of the CV joint, forcing the stub shaft to continue hitting the cross pin. The reason the noise stops when in 4WD is because of the force applied to the spider gears in the differential, holding the stub shaft in place. In my truck, when in Auto 4WD, if you listen carefully, the noise will come and go, depending on the road conditions, like hitting bumps, turning etc.
I have a pretty good idea of a more permanent fix, but getting GM and their engineers to listen will be difficult. It only requires a slight machining of the stub shaft and the cross pin, and installing a spring loaded pin on the end of the stub shaft to exert a little pressure on the cross pin, reducing the movement of the stub shaft. I'm not saying this is the total fix, but if they never tried it, it could work, plus but it makes more sense than a 25 cent o-ring.
My idea, believe it or not, comes from a problem and fix that Ford was having in their mid "80s V6 Camshaft issue. Where the Camshaft was moving forward and hitting the Gear cover and causing excessive wear on the cover, chain and making a similar noise to what we are hearing in our trucks. It is very possibly a fix with a few modifications that could possibly work on our trucks.
I love my truck, and if GM wants to use my truck as the proverbial ginny pig, just give me something else to drive while this experiment is being performed. Hell, I will even help if they want me to.