2007 V6. I've been dealing with a vibration at highway speeds for years. It's slight but just enough to be annoying - like water will vibrate in a cup and your leg will jiggle just enough to feel it. The wheel doesn't shake at all.
I've tried every obvious diagnosis for vibrations with no luck - tires, wheels, suspension, tie rods, the CV needle bearing 4WD switch trick, etc.
I've just kinda lived with it.

Well I got the vehicle on jack stands and idled it in drive. There is a slight visible wobble in the driveshaft as it spins. It appears like it's coming from the slip yoke. Any chance this slight wobble in the driveshaft could be enough to cause the vibration I've been dealing with all this time?

I would think so. Chasing down vibrations is super frustrating so it could be the case. Maybe it’s a worn u joint in the driveline or maybe the bearing at the rear of the front diff is worn? I had a vibration for months that I couldn’t chase down. I finally just put some oem axles on my runner. Turns out my vehicle just hates parts store axles ( I tried 3 different brands). All that to say, sometimes a vehicle can just be picky and the problem can be something you weren’t expecting. If you can see a wobble in the driveshaft I would definitely look into that first. Many times a driveline shop can check a driveshaft to make sure it is true and balanced.


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Just to check, you have greased the yoke + joints on a semi regular basis?