That was a great video
I have basically, NO rear bumper with a 1.25 inch hitch. I know this is NOT heavy duty enough to be used as a rear recovery option. I am not opposed
Being a JK, I would take it to Stomper Offroad in Olathe. They specialize in JKs. Jay Blazer, owner, loves to touch feel JKs and educate the owner.
Take a look at your steering axle joints (ujoints). Take a screwdriver and press against the knuckle to see if you can lift the axle and see movement
put it on jack stands, put it in low, and manually turn drive shaft. count revolutions of front and rear shafts. they should be same !
I have a 95 XJ with an AX15 trans. & stock(I think) drivetrain.. I say that because the pre- previous owner has done a little work