if its a bad axle the vibration will go away when your off the gas and coasting. if its still there have the alignment checked and the tires balance. try rotating the tires front to back, see if it goes away.
This might be my problem on my new Grand Prix. I've noticed over 40mph or so getting on gas there's a vibration that can be felt through the pedals and the steering wheel, but not bad enough to shake like that video above. CV Axle?