Check your CV joints man... My driveline cv went bad and did the same thing! If it feels tight, Drop the rear drive line just to be sure. Mine felt fine and when I dropped the DL it exploded...
01 XE King Cab, V6, 4X4, 5 Speed
Rancho 2.5" lift, 32x11.5x15 BFG KM2's, Fog light bypass mod, Intake mod, KS relocation mod, Painted headlights and front bar, Silverstar Ultra bulbs, Bed caps, Vent shades, Premier deck W/ Ipod interface, Focal separates with Alpine digital amp, 12'' Alpine Type R with Fosgate 1000w amp, 1 farad cap.
F.W.O West Coast Chapter
Proper prior planning prevents piss poor performance!