Im glad Im not seeing things. That needle bearing cup on that rear ujoint is definitely canted. OP you need to park that vehicle before you drop a driveshaft and rip the Tcase right off the tranny. This event will junk the tranny, Tcase, Driveshaft and whatever else they come in contact with as they exit our from underneath your vehicle.
Replace all the Ujoints.
Since the tires are the same diameter, all 4 wheels turn at the same speed whether in 4wd or 2wd when traveling in a straight line. Since CV halfshafts are splined to the front hubs, they both turn at the same speed as the rear axles while traveling in a straight line.