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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 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.