97 Voyager shaking thruout - rt rear break hot

I've had this intermittent problem for years. Had it back to Plymouth mutiple times, they did all kinds of transmission, motor mount, etc... work.
Seems like on a trip at high speeds over 55, the vehicle starts to shake, and vibrate. Starts in the steering wheel but it feels like the whole vehicle is vibrating . Last time it happened we pulled over and noticed a lot of heat from the area of the right rear wheel. It also smelled like burning.
Any idea what it is and how I could have it fixed. I'm car repair illiterate.

Is this an All Wheel Drive, if so it could be the driveshaft out of ballance.

Is this an All Wheel Drive, if so it could be the driveshaft out of ballance.

No just front wheel drive. Is it possible for a rear break to lock up and just overhear. I'm think about just getting a break shop to tear it down and rebuild it.

yes it is possible, could also be wheel bearings, does it happen as soon as you are at highway speed, or after awhile?

It happens after driving for a while at high speed- around 65 mph. First time it happened I was on a trip and was going up a very long hill. Other times I was driving on a flat road. About the only thing in common is 65 miles for 1/2 hour or so.

I can just drive the thing around town and have no problems but I bought the thing for trips. Grrr

you might be on the right track with the hot wheel/smell, I am assuming it is much hotter than the other side? Some heat is normal, put the rear on jackstands, take both wheels off, take both brake drums off, compare the two sides, they should be put together the same, short brake shoe on the front, the right should be a mirror of the left

Sounds like the right rear brake isn't retracting properly. Time for some service. If/when you take off the wheels, you'll likely notice that the brake shoes on the right rear are worn more than the left side.