Have you recently swapped out the springs or control arms etc? I don't recall this happening on my TJ prior to installing new stock springs, which still gave me about an inch of lift, but it has happened ever since. I haven't fully investigated the cause but I asked on here about a year ago and a user suggested that the driveshaft angles might temporarily be too sharp until the driveshaft starts spinning at speed. I first noticed it in the gearstick launching from a stop in first, but I've just gotten used to it:
https://wranglertjforum.com/threads/gear-shift-shake.13574/post-1322467
Just as he advised, I haven't really lost sleep over it, but it would be nice to fix.