If it is rear drive shaft related, it is easier to check out on a lift. You want to take a close look at the forward CV coupling just behind the bevel gear case. The cover must not have any cracks.
Then check the center carrier bearing for tightness. Just grab the shaft and try to make it move by shaking it.
Unfortunately, dealers no longer make repairs to these items. They just remove and replace with new. Find a good mechanic and have him make the same inspections, perhaps just adding CV grease will help.
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