From your description it sounds as if you have either a worn or dry diff, if it's not dry i'd certainly think about draining and renewing the oil in it, perhaps adding a treatment to it.
It could also be the propshaft centre bearing but what you've said points more to the diff.
Has it been lowered or are the rear springs weak?
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Cheers
Dave
Next Door to Top-Gun with a Honda CR-V & S Type Jag Volvo gone but not forgotten........
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