When I accelerate it sways to the right, and when letting off the pedal is sways back to the left. I jacked it up before leaving for work and checked the tires to see if they were loose, but nothing. I noticed when I touched the pass. side rear drum it was piping hot, but the drivers side rear drum was basically cool. Do you think it is something internally with the rear axle? suspension looks okay so I don't believe it is that. Too, last Saturday I noticed when I put it in reverse sounded like something metal on metal? Like a bad u-joint. Checked those and they were okay. Any help would be great, thank you.

 

The pulling could be a worn control arm bushing or tie rod in the front or the links in the rear. As for the drum being hot, check for an axle seal leak, check the rear brake adjustment, check for parking brake adjustment and check that the cable is moving freely

 

the swaying issuse sounds like rear trailing arm bushings. i have seen many nissan pathfinders do the same thing. get it on a lift and get a prybar and see if you have any slack in the rear trailing arms. the rear passengers side drum being hot makes me think that your parking brake cable is stuck. i would actually check and fix this first. jack the rear of the truck up with it in neutral and see if you can spin the tires freely, if the passengers side is tuff to spin you need to start by checking the parking brake cable. if the axle seal is leaking like the other guy posted it could be causing your problem also.