It sure sounds like your differential gear ratios do not match. They're easy to check; I suggest doing that before you get much further. If you pull that stunt on pavement, you'll be replacing your transfer case too.
The gear ratios have more to do with automatic versus manual transmissions, but even then, there doesn't seem to be a hard and fast rule for which vehicle would have come with which gear ratio. There are numerous guides online that will tell you what the stock ratio should have been based on build codes or the color of the paint on the pinion flange.
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TOYOTA PICKUP AXLE HELP?
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