Sounds like the rear axles are showing signs of wear. Check to see if the rubber boots are intact. If they are still ok, you might try sliding the boots off to a side and repacking the joints with fresh grease.

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2001 Dodge Ram 2500 Cummins Turbo Diesel - 4x4, auto, 3.54 gears, long bed
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'92 300D 2.5 Turbodiesel - sold
'83 300D Turbodiesel - 4 speed manual/2.88 diff - sold
'87 300D Turbodiesel - sold
'82 300D Turbodiesel - sold