Hi ibfrombigd. Had the exact same problem. Found out my rear u-joint needle bearings near the drive axle was toast/gone...some said due to lack of drive shaft and u-joint grease, some said due to coach ride height being off, some said due to rear end weight over-load, some said due to all the above.
I had the u-joint bearing replaced, had both the drive shaft and u-joint's greased and had the coach ride height adjusted all around, it was off by one and a half inches off. Problem solved. You'll want to get this fixed ASAP. If your drive shaft fails, you could really be stuck waiting for a tow. DocUSAF
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