1996 Rear Binding On Take Off

I have a 1996 Trooper, 3.2 24 valve V-6 WITH 161,420 MILES. Recently as I take off, there is a binding, seems to be in the rear. As this occurs, there is vibration all over the vehicle. I can go just a little distance and it frees up and the binding goes away. When I park the vehicle, and take off again, this happens again. Is the rear axle assembly locking up from excessive wear? What is going on?

How are your rear brakes/calipers?? Could be hanging up.

Also, check the emergency brake - make sure it's releasing.