Drive Shaft vibration on 2010 Coachman Freelander

The vibration is very noticeable to the driver and the passenger and can also be felt in the steering wheel, so it is something we need to have taken care of before setting out on a cross country trip. Since we have very low mileage, we will take it back to the dealership and have THEIR mechanics :h check it out. The dealership is close to 100 miles away from us.:( It is still under warranty!

Thank you for your input!