Ok, this is not going to be easy to resolve.
First, yank that drive shaft off, take it to a shop that does driveshaft balancing, have the u joints replaced and the shaft balanced. Check your snout that slides into the trans tailshaft for play.
Take a peek at your motor mounts, also check your control arm busings, upper and lower.
This could be coming from your trans but I would eliminate the driveshaft first.
First, yank that drive shaft off, take it to a shop that does driveshaft balancing, have the u joints replaced and the shaft balanced. Check your snout that slides into the trans tailshaft for play.
Take a peek at your motor mounts, also check your control arm busings, upper and lower.
This could be coming from your trans but I would eliminate the driveshaft first.