I did change the transfer case oil but didn't have a 14mm allen socket to change the diffs. I'll do that since I wanted to anyways, but diffs don't usually shudder under straight line acceleration. We'll see.
I'll also go over the passenger axle with a 'fine tooth comb' and check our dealer records. I do remember them fixing the boot or axle on one of the sides while under warranty. Maybe they didn't get it completely cleaned?
The driver side was a b!%@# to change and I'm not looking forward to the passenger side....