Have you checked your Tanny and Transfer Case Fluid levels?
Maybe if They are low, and you fill them to proper level. Maybe you have not damaged something YET.I did not see it, but I assume this is a manual tranny.
Also you might check your "U" Joints for wear.
BLOCK BOTH SIDES, OF ONE OF YOUR WHEELS. It probably would not hurt to get underneath and LOOK AT YOUR DRIVESHAFTS and anything else that turns, see if hits/ scrapes something when the Engine was Torquing (or twisting) the drivetrain. Look for shiny metal spots where things have rubbed. While there, look for loose or missing bolts/ nuts that secure the drivetrain, look at you engine mounts for the same issue.
Imma CJ kinda guy, I do not know your rig well, but I will try to assist, all I am able, with anything you do not understand.
This is one of my two Jeeps, he's a '46. His name is "WILLY"