Likely this is the drive shaft u-joints that will require replacement. Look for zert fittings (grease fittings) and if they are dry, likely the pin bearings inside have rusted and are dry. You can also shake the shaft up and down and look for movement. If still none is found, you can also try to have someone inside the vehicle with their foot on the brake and the park brake set, have them shift between drive and reverse and continue to look for movement. Let me know what you see.
Check the brakes, you might have a broken spring or have a brake shoe breaking up. If you have rear disc brakes, check for pad seperation.
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