It will happen on stock suspension but gets exaggerated with lift.
Check for wear on splines plus the tail shaft housing bushing - for diagnostic purposes you could put some grease on the T-case output shaft splines.
Completely cover all the splines part of the shaft - you’ll need to remove the seal ( so get a replacement one before hand ) to accomplish this correctly. If you don’t lubricate all the splines you won’t get accurate results.
Than put a little inside the slip yoke - not too much because if it has more grease than it can handle it could hydro lock under compression and ya’ don’t want that.
Don’t worry about a little bearing grease contaminating the T-case ATF - there’s nothing inside that case that can’t handle a little grease.
If doing this confirms the issue then replace the bushing inside the tail shaft housing and thoroughly inspect for spline wear and replace as needed.
Or, just add this grease treatment on the splines as a regular ongoing preventative maintenance type of thing and drive it till the wheels fall off.
HTH’s, Tom