Mike,
Jon set you straight on pinion angle and U-joints.
I would also make sure that the rear driveshaft is long enough, meaning that there is enough stub into the shaft for good secure contact. If there is only a small amount holding the two together, it will tend to wobble as it rotates, creating vibrations that you can feel in the seat of your pants.
The best way to check this is to take the driveshaft off so you can actually see the amount of stub that is holding the two together. With the driveshaft in place, grab it close to the connection and try to move it side to side. A proper driveshaft should not give you much play, but if it's not long enough, you will feel some side to side play.
I would recommend seeking the expertise of someone who is skilled in this area. Hopefully you have someone close.
Good luck.
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DOGMAN
91 4dr 5sp
5.5" Superlift