Excessive virbration when in 4x4 mode

I have a 2006 Tacoma, when in 2 wheel drive no issues, however when I put in 4 hi or 4 low when going slow like backing out of a driveway or pulling in, feels like the truck barely wants to move, jerks and shakes a bit (Almost like it is not in gear or something), seems to only happen when I'm going real slow and turning, to my knowledge everything on the truck is still stock (I picked it up used about 2 months ago) did not really notice until I went to the cottage and had to put it in 4x4 to get down an old muddy road one day, then I have been testing and noticed when going slow and turning it vibrates a lot or shakes like crazy, jerks etc.. before I took it in wanted to see if anyone else has expierenced this or what it may be as it drives fine in 2 only and also 4x4 ok if going stright and not to slow, but tryy to pull in or out of a driveway, not cool at all. Wanted to be prepared on what it might be before i take it in to get looked at and if anyone esle expierenced something similar.

 

is it doing this when you are on pavement only? or does it do it when you are offroad also?