If not whining or rumbling, what sort of noise is it? Very difficult to advise about noises on any forum, even videos do not present well.
With a 4x4, there are lots that can make noise.
Prop centre bearing, and its joints at each end.
If the tyres across an axle are not matched, that can cause the diff to be churning all the time. Tyres can be noisy, especially if chunky ones, and wheel bearing noise can transmit along drive shafts.
Rear diff mounts seem to be a failure point occasionally, and when failing will transmit noises that otherwise might be normal.
Everything needs to be poked, prodded, twisted and shoved to identify any wear or other issues.
Oil level might be a place to start.