Drive Shaft vibration on 2010 Coachman Freelander

Are you able to get under and inspect the driveshaft? Look to see if it's loose at either end, at center bearing(s), and UJoints. Then look for dents or something wrapped around it. Hopefully the shaft is painted, which will keep it cleaner, easier to inspect, and easier to see if a little welded balance weight has fallen off leaving a bare spot.