Ran over something, now there is a loud vibration

When you had the tyres swopped round, did they check the balance of each wheel and if all wheels ran true (not bent or buckled), or any deform in a tyre. Generally if you can drive through a vibration it is due to a wheel being out of balance. Other cause of vibration, is wheel alignment being out, (constant, and gets worse as you speed up). Drive shaft out of true (balance or bent)

Vehicle transmission linkage or bracket bent/broken or electrical wires damaged. Most likely visible when vehicle raised safely and inspected. Good luck and safe driving to you!

Get a alignment, everything will look normal, and when a vehicle vibrates you probly have dirt or mud ruts on the inside rim throwing the tire out of balance, or missing wheel weights..

This can be tires or worn or bent front end and steering parts. have this looked at by a front end shop asap, it is dangerous to drive this way.

check and test hubs and c/v axles

catalytic high temp shield protecting bottom of car from the high heat. it maybe cracked or bent and is vibrating on the cat at certain rpm's. easy fix bend it back or away enough to prevent contact AFTER IT IS COLD

look for loose engine mounting bolts or all other brackets ect.

If your truck is 4WD , try this........ Put the transfer case in N and try going thru the gears , if the vibration is there , could be engine or trans.
If vibration goes away , look elsewhere , could be bent drive shaft , bent axle , bent rim , bad wheel bearing , steering component , wheel balance , or a host of other things. I suspect that it is not the trans because I have never come across something like that before , the only thing I can think of on the trans that would cause vibration would be a worn out input or output shaft bearing. If truck is automatic , could be problem with torque converter , if truck is manual , could be clutch problem.

upper control arm

Sound more like out of balance tires, or bent wheel. Unless this vibration is even in park. Then I would say something is up against a part of the steering that shouldn't be.. Or your exhaust system is bent or touching part of the undercarriage that it shouldn't be. Was the car ever wrecked?