I would check the universal joints in the front and rear drive shafts. Both drive shafts will have a pivot point near the transmission and close to the axle. Try to twist the joint (turn the middle of the shaft one way and on the other end of the joint twist the other way) trying to feel for any slop in the joint. You shouldn't be able to feel any movement. If one is sloppy enough to cause that much vibration it should be pretty obvious and it also would not be safe to drive. If the front joint on the rear shaft somes completely apart, it can stab into the pavement and act like a vaulter's pole lifting the back of the truck right off the ground. Then the rear joint will snap and the whole shaft comes through the box of the truck. Could be tough to control at highway speed.
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