I agree it could be drive shaft related, but of course you also have 4 half shafts, and 2 differentials to consider, most folks can tell the difference between drive shaft speed vibration and wheel speed vibration, of course the half shafts are twisting at twice the speed of the wheels.
Chock the wheels, release the park brake and crawl under there and push-pull-twist on all the shafts (cold of course) and see if you can find anything with slack, look for rust colored dust around the u-joints and support bearing, check the flange bolts where the half shafts bolt to the differentials.
This does sound like a "worry" noise and you should get a handle on it as a loose shaft (as in get loose) can cause a ton of damage.
On the other hand having to warm up sounds like possibly a diff. Of course the diffs and gear hubs have been serviced yes? make sure there is no excessive play on any of the three differential shafts on both diffs.