[jclark]

Make sure the shafts are seated into the transmission.
If not, you'll be able to pull them out by hand.
Pull and see.

If they're ok you need to check your ball joints and tie rod ends,
somethings loose.

Jack up the car and see if you can wiggle the wheel, look for play.
Also spin the tire and feel for roughness or noise, you could have a
bad wheel bearing. They'll do that.
That would be my first guess.