When I filled the tank put the big toolbox and 2 full coolers in the back it helped. Could this be a pinion angle problem?
It is the rearmost U joint, I can practically guarantee it. Mine did the same thing. They get worn in a certain spot where they spend their whole life, until you lift it. Also, loosen the lugnuts and Jack that tire up in the air and torque the lugnuts, in a star pattern, to 85 lb-ft (cant recall the actual torque spec, but that's close). I've noticed torqueing to spec alleviates a lot of vibes on my tacoma and 4Runner.