The car is talking to you asking you to fix its problem
I would concentrate on fixing now before it hurts you with a parts failure
Can you jack the car up and put it on jack stands high enough for you or a helper crawl under the car while running? If so do that and have someone either drive the car on jackstands or have someone look at the drive shaft under power in gear where the car vibrates to help identify where the problems are
Many things can cause problems like your having, a tire that is out of round and so on
Have fun and let us know what you find, that could help others on here later