I don’t have the schematics for your vehicle. However, I’d be willing to bet there is more to your front axle assembly than just the CV joints. One thing that I would try is stopping at neutral when going between drive and reverse. If your problem diminishes significantly, it may mean at least part of the problem is outside the transmission. Also, if your engine is idling too high this can accentuate the issue.
I hope you can resolve this issue before it gets worse.