2007 Toyota FJ Cruiser drivetrain & axles problems

Vehicle was traveling in the snow in 4 wheel drive mode when it started shaking and vibrating as if it had a flat tire. Because of the road conditions vehicle was traveling under the speed limit. Failure was catastrophic and did not allowed the vehicle to coast too long as the vehicle jammed, as if the transmission had broken several gears and binded. Vehicle came to a stop engulfed in smoke and flames were coming from the undercarriage.

At mild acceleration and only when between 1,000-2,000 RPM the vehicle starts to shake / rumble from the rear similar to driving over rumble strips. The rumbling stops as soon as the accelerator is let go of or as soon as the vehicle's RPM falls outside of the 1,000-2,000 range. It is obvious that this is coming from the rear differential assembly. Toyota is well aware of this problem but refuses to provide a fix even though this is clearly an issue of defect in design or build.