My 04 had symptoms like that. The front driveshaft lost its rubber seal. It's hard to see the seal. It's inside the CV joint that's on the transfer case end of the driveshaft. My seal was gone and the joint froze up. It think it ruined the output bearing in the transfer case.
I replaced the transfer case with a rebuilt unit. Then I replaced the ruined CV joint on the driveshaft. Twice. I hate the pancake CV joint used on these. So I bought a new driveshaft that uses a double u-joint instead of a CV. Most parts stores have rebuilt driveshafts with the original style CV joint. Mine came from a driveline shop. No problems since.
If you crawl under your truck and look down the front driveshaft, towards the transfer case, you'll see the rubber seal inside the lip of the joint (or you'll see the steel balls of a dry joint).
Good luck. I hope this helps, or at least eliminates a possible cause.