In addition to BigJim's thoughts, put the Jeep up on jack stands, on the suspension , not necessarily the frame. Then, when you feel safe enough, squat down at each tire and yank it in and out and try to push/pull from side to side and see if you feel any movement. Then try to rotate the wheel and look for slack or delay in your drive shaft turning....

91 Jeep Wrangler YJ, carpet, tires, trailer hitch. yea....