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Is the vibration in the seat of your pants or in the steering wheel? If it's in the steering wheel, the problem is likely in the front wheels and/or steering components.
But it sounds as if it's coming from the rear. Could be one of the wheels threw a weight and is out of balance. If the drive shaft is out, it also may have thrown a weight. Balancing would involve bringing it to a shop that specializes in this. They remove the shaft and put it in a machine to spin it. They then weld small weights to the exterior of the shaft where required. You could save yourself some $$$ by removing and reinstalling the shaft yourself, but this would require some tools as well as a second vehicle to deliver the shaft to the shop.
It could also be that if the shop you took it to removed the shaft, they may have reinstalled it out of alignment with the transmision or rear differential. It has to be reinstalled in the same orientation as it was removed. If the rear wheels spin while the shaft is off, and it was not properly marked prior to removal, it might have gotten reinstalled out of alignment.
Just some thoughts.
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Zilverado
1992 Pathfinder V6-SE 4wd
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