I am having the same problem at pretty much the same mileage (59K....see the shimmy, steering wheel post) and I checked and topped off both diffs hoping it was just a low fluid level. It wasn't. My "mechanic whom I also believe says that he called dealer his "contact at dealer" said that these diffs have a bearing at the input shaft that can go bad and needs to be replaced "occasionally". I emailed Gilly privately and he said that he had not heard of that before so now I am confused too. Please email me privately and perhaps we can compare, etc to determine correct fault.

Joe Hahn