2004 chevy suburban rear end noise on 2004 Chevrolet Suburban 1500

When accelerating gas over 30mph it makes a noise and the speedometer goes out. Also when I drive over 30mph it seems like the back tire kinda vibrates and struggles making my steering wheel vibrate

This could be related to a number of different components. I would recommend bringing it in for a test drive/inspection with a technician so we can find the root of the problem. The vehicle should be scanned to see what error codes are present. I could take a couple of guesses at problem, but without seeing it, we would be doing just that, guessing.
Was told my universal joint or wheel bearing can't afford to spend an outrageous amount of money in a dealership
Ok, well again this is all guess work without seeing the vehicle, so we may be way off base. But on an 2004 Chevy Suburban 1500 without 4 wheel drive (I did not have your specifics and there are many variations of your vehicle) a u-joint is going to start around $146 and the wheel bearing is going to range from $286-$410. Again this is a VERY rough estimate without seeing the vehicle or having any specifics. Your best bet would be to bring it in to us or any professional shop, before you start setting your sights on an estimate that may not be even remotely helpful in the end. Diagnosing a car/truck over the phone or internet is impossible and you will rarely, if ever walk out the door paying the price estimated this way. I would rather be completely honest up front, hopefully it is food for thought.