Classic dry U-joint sound.The U-joint may or may not be loose,but I'll bet one or more of the cups has no grease.Usually it's only the rear one,but I almost always change both while I'm there.

Check the drive-shaft U-joints.

Bad rear gears

check rear brakes maybe a brake shoe dragging

I have a 1990 Ford ranger xlt V6 4.0 l truck.when I start to drive I heear a chirping noise and as I speed up its gets louder,but then goes away an then it will ride rough...like it's vibrating.the u-joints seem ok an shaft does too.can't figure what's doing it.