Check your propshaft CV joints and center support bearing. Had similar symptoms turned out to be bad CV joint on the propshaft. Straight forward replacement.
h̶t̶t̶p̶s̶:̶/̶/̶s̶t̶o̶r̶e̶.̶0̶3̶4̶m̶o̶t̶o̶r̶s̶p̶o̶r̶t̶.̶c̶o̶m ̶/̶c̶e̶n̶t̶e̶r̶-̶d̶r̶i̶v̶e̶s̶h̶a̶f̶t̶-̶c̶v̶-̶j̶o̶i̶n̶t̶-̶f̶o̶r̶-̶a̶u̶d̶i̶-̶q̶u̶a̶t̶t̶r̶o̶-̶v̶e̶h̶i̶c̶l̶e̶s̶.̶h̶t̶m̶l̶
https://www.europaparts.com/cv-joint-893521100.html
https://store.034motorsport.com/driv...-vehicles.html