After re-reading the original post, I have to agree on the heat shields or rocks stuck somewhere. I didn't see that it did it only at idle when I read it the 1st time. You have to be moving to hear the driveshaft problem. That's what I had last fall...
Shaun t. : I don't use mine as a mudder all the time, as canadian trucker probably doesn't either, but I do use it on 2-tracks when I'm hunting. Sometimes, you just have to push it a bit(or a lot...). That's why I bought a 4x4!
It also keeps you out of trouble when used the right way. It's normally still a daily driver...
A few weeks ago, I was on a 2-track in the UP of Michigan, and came around a corner to suddenly find myself in deep sugar sand. 4L was not a help in trying to back it out(anyone who has been in trouble in deep sand knows what I'm talking about...), so I had to dig a ramp for each tire and get some wood to jam under them to get out. Still took some rocking... Pushed it pretty hard there backing out to solid ground once I got it moving. So, no, I didn't mean to get into this situation, but the 4x4 helped me get out of it.
I knew it when I bought the truck that the 4x4 would be more costly down the road, as every 4x4 I have ever heard of, that gets used regularly, needs more maintenance than a 4x2. Just the nature of the beast!
Hopefully, the OPers problem is just a heat shield or something easy.