With the Zexel Torsen differential, unless there is some resistance, one wheel can spin freely - there has to be torque applied to both wheels, with one having less resistance than the other, in order for the differential to apply power to the "free wheel". Thus, having a wheel jacked in the air will not allow the differential to apply power, and it will free-spin. In other words, you can't apply enough force to a spinning wheel by hand in order for the differential to apply power to that side, if that makes sense.
I'm not totally understanding it either, but it kinda makes sense (intuitively anyhow) by reading about it:
http://en.wikipedia.org/wiki/Torsen#How_they_work
Doesn't solve the issue, but explains why you can't feel the resistance you are expecting with a wheel jacked up (especially the pass wheel).
I'd maybe look into U-Joints, maybe the pinion nut/seal/crush sleeve, or tranny and/or motor mounts. But again, I'm certainly no expert. Good Luck!