Your scenario didn't discuss whether you tried the same test in 2wd to see if the noise went away.
Initially, my problem was in 4WD and under stress/load only (going uphill and/or towing). Over time, the symptoms grew more noticeable and were present in 2WD as well, even on flat ground and without any stress/load. It was that pattern that ultimately led to the front diff being replaced.
Since then, the test scenario I described results in the felt vibrations in 4WD and under stress only (uphill is the easiest test for me to reproduce). That is, the vibrations are NOT noticeable in 2WD, nor when on flat ground and/or w/o stress/load.
To be clear, the noise/pattern is NOT the same as _immediately_ before the front diff replacement. However, it's still noticeable. Dealer says this is "normal" across all Expeditions, but this being the only Expedition I have experience with, I am unable to agree/disagree without hearing from others who can relay their experiences.
I do not recall noticing these vibrations in the first 2-1/2-ish years of ownership, but maybe I wasn't paying attention until they grew so noticeable I couldn't ignore them and now I'm overly sensitive.
Again, if more Expy owners tell me theirs exhibit the same pattern than those who don't, I can feel better that this pattern is indeed "normal." Without that corroboration, though, I can't help but wonder if something else has failed or is on its way to failing. Who knows.
Getting back to the OP and his concerns...I mentioned my situation because I wonder if what he's noticing falls into the "normal" category or the "something like the front diff has failed" category.