Usually when you lift it, the working angle also changes, and your u-joints are no longer counter-balancing each other each rotation, causing an unavoidable vibration. @HARDGEAR said it right. Sometimes it'll go away, but often will need something other than u-joints. I too thought my front u-joints were the cause of the vibration, but upon removing them found them to be perfectly fine (this is at 330K mind you.) But I had already removed them, and bought new Toyota, so I put them in. And it didn't go away...haha. I think a DC drive shaft would probably fix it, but i just live with the vibration at low speeds. Highway speeds is smooth as silk, oddly enough.