I have never been in this predicament before.. but how does the shift lever feel ? does it go in gear or is it floppy? You may want to check the cable going from the back of the shift lever to the transmission. I wonder about the shifting fork being messed up..This can cause similar problems..if it is broke or bent.
If your ujoints were going out, you would be able to see a hesitation there at the joint /shaft as you manually turned or rocked the tire back and forth.( with it jacked up in the rear) .Try it with the brake on too. In my case of bad joints, the shaft would hardly move and the I was really rocking the wheel . Looking at the joint visible, I could see that was where the freeplay was.. in the bad joint.
I'm a worry wart and wouldn't drive it, no more than necessary, if it were me, because something isn't right and I wouldn't want to make it worse. If you have to use 4wd, to make it move , then the rear wheels aren't taking their share of the load. That a lot of pressure on the front end then. just my thought though. bordercollie
edit: There is talk in the manual about checking the charge pressure. on the troubleshooting list. I don't have the knowledge on that. I definitely would check that transmission fluid.and make sure the filters were right.