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2000 Jeep Cherokee shaking at 55

i believe changes to pinion angle broadly are the cause of vibes at specific speeds. You sure yours hasnt changed?
 
Mine did this badly when I first got it. Turned out someone had used an impact gun on the wheels, and they had gotten tightened slightly off center of the hub, causing vibration. I reinstalled the wheels, torquing the bolts slowly by hand, and the problem has completely gone away.
 
I have the same issue on my '01, swapped wheels and tires, same problem. I'm dropping the front shaft to see if that has any effect.

I had a 2wd chevy that did this and it turned out to be ujoints.
 
Driveline
 
I put mine on the rack today, checked everything. Found some slop in the passenger side ujoint. With it in the air I could hold the inside of the shaft and move the outside about 1/8" in or better, so I think that is my issue. Will tray and replace the shaft next weekend.
 
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