It's called spring wrap. The springs are the only thing keeping your axle from spinning. Under heavy load, the springs end up springing not just vertically as they should, but they twist too. Unlike vertical movement, there is no shock absorber to damp this motion, so it just bounces. It's hell on your u-joints, and probably on the rest of the drivetrain.
There are two fixes; smoother driving, or drivetrain mods. The potential mods are horizontally-mounted shocks which absorb this motion, and/or traction bars. On some vehicles, traction bars can really make the handling/comfort turn to shit when the back is unloaded. There are traction bars you can quickly deactivate/remove, but they cost a lot more. Shocks in this situation have no effect on handling/comfort.