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You have a bad axle cv joint, this causes the vibration while accelerating and is a fairly common problem. You would need to determine which axle is the problem by removing them and feeling how they move by hand. You have 4 axles, but if you feel the vibration in the steering wheel its going to be one of the front axles. You could just replace both and this would guarantee the fix. Also recommend oem axles, as some aftermarket axles are not the right size.
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