A little wear on the many moving parts in a Land Rover drive train can add up to a lot of backlash in the transmission. The most common causes are worn prop shafts, wear on the gearbox main shaft and the corresponding gear in the transfer box and wear in the half shaft and driving members.
The first things I would check are the rear prop shaft and the driving members on each axle. The prop shaft is a simple case of checking the UJs and the small plastic dust cap from the driving member the outermost part of the axle and checking for wear by rocking the vehicle backwards and forwards with it parked in gear with the handbrake off. I would guess that four new driving member will remove most of your slack.
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