Mine does the same, although not too loud and no vibrations. Last axle fluid change (every 30k mi) everything looked ok, nothing out of the ordinary. I have 115k on the clock. Could be TC or bearings?
2002 WJ Ltd. 4.7 V8, QuadraDrive
1973 Mercury Cougar Xr7 convertible 351CJ, C6, 9" rear
1970 Kaiser-Jeep M35A2 W/OW 6x6 Multifuel D-Turbo.