4 wheel drive acting up

I put some new shocks on my 2000 taco. I took it for a little light offroading to tweek and then re-torque the suspension, the 4x4 was working fine, I got back on a paved road and was still in 4x4, just feelin things out and my truck started to shudder and lurch, there are also some wierd noises coming from the underside, mainly from the rear tires. I messed with it a little in the parking lot, but couldnt pin point it. Im not a mechanic so this is a mystery to me. Keep in mind I have 9 inches of lift, but it was working fine before. I'm taking it into toyota to have it looked at soon, but was just wondering if you guys had any input.
Thanks

your rear diff may have lost some teeth my tacoma was making a loud pink noise when my front diff lost some teeth

if you were on dry pavement and in 4wd, thats your problem, the front and rear drivelines turn at the same speed no matter what when your in 4hi or 4low, so when you turn on dry hard sufaces the tires turn at different speeds (or at least try to) but the transfercase wont let that happen so, the tires give by hopping off the groung to let the drivetrain unwind