Vibration around 50-55

Five years ago my Grand Cherokee had a severe wobble at 45 mph that would not stop until I was almost at a complete stop.

Today my TJ has a vibration ( that can be driven with )that start when passing 50 mph and stops when I return to below 50 mph.
 
Yes, I don’t have shake or wobble but a vibration which looks like what is causing it is a bad bearing in the output yoke that has some play in it.
 
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