Thanks for the great reply Remi.

Step one is to have the tires balanced to make sure a wheel weight has not come off. At the same time check for tire wear issues due to alignment concerns. If the wheels and tires addressed do not help then it is time to remove the rear driveshaft and work the U-joints in hand to see if they can move there full range with out slack or binding. If those are fine, remove the front driveshaft and drive the vehicle as just a rear wheel drive to see if you have a concern with the front axle.

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Thanks Chris