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There's too much mass in the wheel, hub, portal gears, and axle for the impact gun to do any good loosening the diff pinion or rear of transmission. Dragging the truck back and forth will be more successful. This is a head-scratcher.

Great news that the engine turns over. There is a mode of failure in the U-joint area we have not mentioned. If any of the 6 bolts on the transmission output flange have backed out, considering they are inside the ball of the torque tube, a loose bolt can lock the driveshaft. Never heard of...

Good planning on the brakes. Even if you remove the collar (two halves) on the torque tube, there is still no access to the U-joint without moving the entire torque tube and axle assembly rearward. The U-joint is inside the ball of the torque tube. The axle has to move rearward far enough to...

You have already done the things I thought of! Being able to shift into all six gears rules out the lockup due to crossing the gate. Even with a bad torque tube boot (the one behind the transmission) there should not be a locked U-joint. If the grease fitting on the rear torque tube swivel...

From your testing, the diffs are both unlocked as you stated, but transmission may not be in neutral as you thought because, first: if the front end allows one tire to spin with one tire on the ground then that verifies the 4wd gears in the rear of the transmission are not engaged. Therefore...