I had similar issues that required a three-step approach. Initially there were moderate vibrations felt through the steering wheel around 70-80 km/h, and it got a worse at highway speeds. It wasn't severe vibrations, but it was enough for my Fitbit to think I was rapidly tapping it -- it kept going into "sleep mode".
1. I jacked up the front end and found my driver front wheel had some side-to-side play, even though the lugs were torqued properly. I re-packed the hubs and inspected the bearings (which looked good). The side to side play went away, but the vibration was still there.
2. I found some play in the front driveshaft as well. I replaced both of the front u-joints, and that fixed the vibrations at the 70-80 km/h mark. There was still some minor vibrations starting around 90km/h when in 4WD Auto, but nothing like before. It was summer and I was in 2WD almost 100% of the time, so I ignored it.
3. Winter's came and I usually keep it in 4WD auto from November to April. The vibrations were annoying and getting a bit concerning, so I finally drained and refilled the transfer case. The stuff that came out was near-black and almost had a hint of grey/silver to it. Not good, and nothing like the dark red stuff that came out of my transmission a few days earlier. Took it for a test drive, and the vibrations are gone.
tl;dr: Re-packing hubs and replacing the front driveshaft's u-joints got rid of the major vibrations, but it wasn't until I swapped the transfer case fluid that all the vibrations disappeared.
Fun side note: When I replaced the gear oil in my differentials last year, the oil wasn't black -- it was dark grey. The ATF in the transfer case having a silverish look to it reminded me of that gear oil. I really need to get on top of maintenance besides oil and transmission.