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Well.. let's start with the least expensive route first...
Crawl underneath, and see if possibly yo might have thrown a balance weight or weights on the driveshaft look all the way down from the tranny to the rear end.
If no luck, try grabbing the driveshaft at each U-joint.... if they're good, you shouldn't get much play out of them. I would think that if the culprit is a U-joint that it ought to be pretty sloppy to cause the vibration you describe. If it does end up being a U-joint, replace ALL of them, along with the carrier bearing too if you have one.
Still vibrates?
Since the steering doesn't chake, then your front end ought to be ok. I would check for a bent wheel, or anything that looks bent or obvious in and around the rear wheels.
I really think that you're gonna find oen or more bad U-Joints though, and/or a bad carrier bearing...
Lemme know what you find.... and Good luck!
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