2015 Ford F-150 Trouble with IWEs

Posting this video in an attempt to troubleshoot a grinding noise i get when in 2H. I mounted the camera under the truck and noticed the axles spin with the wheels over 15MPH. This video was taken in a neighborhood going no faster than 25MPH. Should my axles be rotating a little bit or not at all when in motion? Looking for guidance let me know what you think.