Well, if the CV joints have stretched and have slightly more play, under light load they could vibrate from alternating between loaded and unloaded. Under heavy load, the torque from the front motor might keep the slack in the joints pinned tightly, preventing the vibration.
If that were true, then it might indicate that a software fix is possible. The solution would be to put a little more torque on the front motor under light load, to keep the CV joints from vibrating.
Well, now, come to think of it... We could test that using track mode. Hmm. Just adjust bias between front and back motors and see if the vibration goes away. I'll have to try that later today.