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I put new exhaust on mine, and didn't notice it was touching the trans cross member. The vibrations didn't really get noticeable until highway speeds; the faster I went, the worse it got. It felt like it was coming from under my seat. I would describe it as a metal to metal contact (obviously)..... hope this helps.
Holy smokes. I've been chasing a similar issue myself. I noticed there is some slop in my exhaust after the cat delete, though it is properly mounted in all the hangers. At freeway speed I feel what can only be described as a thumping tap (not heavy, very light) that I feel through my left foot on the floor. I've checked the U joints and the drive shaft thinking it was there. For me the same thing, when I let off the gas it goes away until I get back to just cruising at freeway speed. I started to think it was the transmission since it only seems to happen in overdrive.
I will check the exhaust to see if it is hitting as well. Would take a HUGE load off my mind. I was waiting for my driveshaft to bounce off on a dark highway at night in the raging thunderstorm.
2003 F350 6.0 PSCC XLT Long Bed, Cat delete, MBRP 4", high idle mod, Rotella T6, Edge Insight CTS