Seems like boondocking is the way to go during covid. Went several miles on rough, washboard NFS roads to our campsite. Kept it in four wheel high until we were back on the highway after, then back to...
Sounds a lot like the "Death Wobble" this can occur in 4 wheel drive vehicles that have a solid front axle and coil springs. I when through this on my 2007 F 250 4x4, it took a combination of installing a heavy duty track bar and keeping my front tire at max inflation rating on those tire. Also this can occur at anytime and the speed range as you describe was similar to mine.