No, adjustable length control arms will not cure those vibrations with your factory single-cardan rear driveshaft. The reason being is that your rear axle's pinion angle must remain the same as/parallel to the angle of the transfer case's output shaft.
This is your setup now and you can see how the two are at the same angle.
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There are three ways to eliminate that vibration. In terms of cost, least costly to most expensive.
1) Drop the transfer case more. Not a good solution.
2) Install a pair of 1" taller motor mount lifts or spacers to lift your engine 1". The effect of that is additive to what your current transfer case drop is doing, both combine to reduce the excessive angle at the driveshaft u-joints caused by your 3.5" lift. Like Savvy's motor mount spacers or Mountain Offroad Enterprises "Bombproof" 1" taller motor mount lift (MML) Kit with rubber (not polyurethane!) bushings.
3) The best method... install a SYE (slip yoke eliminator) into your transfer case and replace the stock single-cardan rear driveshaft with an aftermarket double-cardan (AKA CV) driveshaft. This third choice also requires buying adjustable length rear control arms so the pinion angle can be raised as shown below.
This is the pinion angle required for a DC (aka CV which means Constant Velocity) driveshaft installed with a SYE kit. The rear pinion angle is raised via adjustable length control arms so it points directly up the driveshaft.
View attachment 361987