Drivers side wheel looks a touch too far forward...
have you checked axle squareness to frame and to each other? (measure from same points each side of axle tube to a set point on the corresponding side of frame, choose 2 points on frame, total of 4 measurements each axle, to be sure)
have you checked wheelbase of 93.4"?
have you checked pinion angles? does tcase have an SYE kit?
give us a pic of both axle pinions from the side, including some of the driveshafts, then a pic of the rear output of your transfer case
Start there because something just looks off. And i'm guessing with a long arm lift that it's not adjusted properly. Might be an indicator that there's other stuff out of adjustment. How long have you had it? Did you inherit the lift?