Has it been doing this all along? Recently developed/discovered? We don't have a tach on ours, but I'm thinking 3500-RPM is moving right along down the road, 75-mph?
Do you have an extended wheelbase? Look in the door frame and see who stretched it. Give them a call with VIN available. Some stretcher and I forget which one, put a dozen or two back together cockeyed.
Lord Willing, it isn't THAT.
Usual suspects are driveshaft: lubrication, stuck slide spline, angle of differential face, shaft(s) out of balance or mis-aligned.
Mis-aligned can actually BE "aligned!" The driveshaft sections aren't meant to line up perfectly. Slight offsets keep the segmented shaft from vibrating as if it was one long one.
Have you looked to see if something's around the driveshaft, or bent/dented it?
Could of course be a wheel or tire or brake issue. I doubt it's an engine mount.
If God's Your Co-Pilot Move Over, jd
2003 Jayco Escapade 31A on 2002 Ford E450 V10 4R100 218" WB