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Sounds like u-joints.
My SVX is fine but my 4wd Justy suffered that problem. Vibration really started around 80kph/50mph. The u-joints weren't designed to be replaced. My dad did something to the driveshaft on the Justy so it would accept "Toyota something" u-joints with grease capability so whever it starts vibrating we add another shot of grease.
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