Rear most driver axle bearing is worn. Look for rub marks of the driver wheel against the frame. Two repairs are replacement of the bearings or using an e-clip or cut washer on the axle to keep the worm gear centered as mentioned above. I've done the bearing replacement, it is involved and you would need a wheel press or making some other apparatus to press the wheels back on after pressing in new bearings. I would just snap a washer on and call it good.
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