This sounds like you need to check the rear U joints for wear, or you have a transfer case that needs to be rebuilt or is low on fluid. If you upload a short video of the problem, I could tell for sure what's going on. Here is how you can remove the drive shaft to check the U joints:
https://www.2carpros.com/articles/how-to-remove-a-drive-shaft
Check out the images (below). Please let us know what happens.
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Monday, April 3rd, 2023 AT 1:59 PM