if you don't have any lockers you could lift one side of the Jeep, stick it in 4wd + first gear and listen, the side that is lifted should have the wheels spinning, make sure you don't have the e-brake on and the side that is on the ground has the wheels secured. Jackstands under the axles on the side that is lifted works best as it will also prevent the Jeep from rolling but even with those you should secure the wheels on the ground as well. Could be like he ^ said the d/s but also the axle u-joints, t-case or the R&P or spider gears on the diff. Once you have it lifted and spinning would be easy to pinpoint. My guess is the diff (R&P or spider gears) based on what you describe, butcould be something else as well, these are the few i can think about.