Manual tranny banging hard at any gear or speed

Hard banging from under cab at any speed. I can feel it in the shifter. Acts like trying to jump outta gear or into four wheel. Does it really fast n makes truck jerk a bit. Does it in any gear any speed. Might go two miles n not do it once then might do it 5 times in next mile. Does not do it in four wheel at all. I’ve changed tranny grease n checked transfer case n it’s full. I’ve visually inspected everything n I’m at wits end. Replaced u joints also. Could orb rear end issue but sounds like sound is coming from tranny or transfer case. Email@jeromychamberlain75@icloud. Com. My dad’s a pretty good mechanic n I have pretty good knowledge around vehicles