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Do you get a vibration as well?
Is it 2wd or 4wd?
Automatic or manual?
Welcome I'm Chris aka Moose
Different tech here
You mentioned it does not happen at walking speed does that means it occurs in drive and reverse not moving or only when going over say 5 mph in drive or reverse?
If it occurs sitting still then I suspect a possible exhaust hanger or shield to blame or the rear trans mount. Can you check those?
-----------About me and Just Answer------------
I am in my upper 30's, have a wife and 2 sons. I farm, fish, hunt, build, and coach youth soccer. I work on anything with an engine, been to many schools and classes through my 12 years with the dealership to get trained and certified. I try the best I can to share what I know and or have access to with my customers. Please consider I base my questions and answers to you, solely on the information you give me since I am not there to see, smell, hear, touch, or test. I try my best to be here everyday starting at 3pm central. Rating an answer is required. Please let me know if your not pleased prior to rating or if you cannot rate me so I can try to help a different way. God Bless and have a great day.