AHA!
10 to 1 you say sorry to Mr Slob for disbelieving him!
The noise is probably being CREATED in the prop shaft(s) UJs, but being transmitted through the transmission which is where you hear it from. Your ears deceive you!
Park car on the level.
Put a brick at each wheel (behind the rears, ahead of the fronts) so the car can't roll over you.
Put a big carpet under the car and side under with a torch. Safety specs stop the crap from dropping in your eyes. There are FOUR UJs, and check them all.
Working close to the UJs, push and pull the shaft UP AND DOWN and then SIDEWAYS.
There should be NO perceptible movement between the two Yokes. If you try to tun one half the otyher MUST move without ANY free paly. If there is any movement, the UJ is knakkkkkered. No fix is possible - too late for grease - fit a new UJ kit. Haddocks job.
And check all four of them.
I bet you find one of them is moving HEAPS.
Greasing once in a while makes them last almost for ever.
CharlesY