More like a C/V joint failure, better have them all checked, you could have blown a C/V boot and dirt got in there and is fouling up the C/V joint.
Alignment will usually not cause vibrations. Alignment being off will cause rapid tire wear and pulling to one side or the other.
Looking for a Used Town & Country in your area?
CarGurus has 19,858 nationwide Town & Country listings starting at $2,188.
Search Chrysler Town & Country Questions
Are you a UK consumer? CarGurus now has a discussion forum in the UK.
Chrysler Town & Country Experts