Ok, so the vibration seems to be RPM related. When I gear down, the vibration seems to speed up and is not quite as bad. I feel it in the steering wheel and the dash more so that the floor or the seat. It only does it when I'm on the accelerator in gear. Completely goes away when I let off or go to neutral. So maybe it's not driveshaft related at all. I doubt that it's an axle/CV joint because of it changing with RPM. So maybe transmission or transfer case?
The code is for the rear stepper motor, although it did not come back after clearing and taking the drive. I have had a hard time keeping the batteries charged because of not driving it. I know that will trigger a lot of codes.
I have a lot of experience wrenching on the FWD TDI's, but none on AWD or 4WD.