This issue started a month or so ago and has not gone away and seems to have gotten worse. When turning and accelerating (i.e. from a stop light) it will often, but not every time, make a loud rattling noise and shake from the right rear. I have been able to deal with it but today it shook more violently and a few seconds after straightening out. I'm hoping someone will have an idea of what this is.

it's a 1996 Cherokee Classic 3-4in lift on 33s with a Chrysler 8.25 in the rear.

Park it in a safe place, get under it, and start inspecting your suspension parts, all the way to the body/frame. Look for broken parts, worn bushings, shocks, leaf springs, ujoints. Pull and push the axles and see if you can see play, movement in parts that should not move. Just because it feels like it is coming from the back doesn't mean it is. Check the front. Track bar, ball joints, control arms.

Have someone turn the wheel back and forth while looking at the front components for slop or anything moving that shouldn't be.

You think I could be wheel bearings as well or just suspension or steering?

i think you have a seized axle shaft u-joint. that's providing you do for sure have it in 2 wheel drive. cause it will feel this way if in 4wd. but i would pull your shafts. i'm sure at least one will have a stiff u-joint.

Look here also.

U-joints were replaced a and a half month ago could the still seize up?

In your original post you stated that the problem started about a month ago. Did it start about the time you replaced the U-joints? If so, I'd give them a serious look.

How would I know theyre seized and what would i do if they are.

You pull your shafts and check the U-joints for free travel without binding. If one binds or is seized you replace the U-joint.

did you do the u-joints yourself? maybe when installed, the ears were tight, causing a very stiff u-joint, almost the same as a seized joint.

pull your shafts, don't need to pull all the way out, just enough to rotate the stub shaft around to see if it's stiff or binding.