My 2017 Holden Colorado has a vibration in the cabin at low speed

You may have a collection of problems rather than just a single one. The vibration through the steering wheel could simply be the vibrations from the diesel engine travelling up the steering column and into your hands. Does the vibration go away when you rev the engine to just off idle? If so, perhaps an adjustment to the idle speed is all that is required there to move the engine out of its resonant patch.

A vibration in the cabin could be a worn wheel bearing, out-of-balance driveline, a worn torque converter, broken or worn engine mount, broken exhaust mount, damaged tyre, a wheel out of balance and plenty more. But the play in the front driveshaft coupling would be a smart place to start looking. Again, the problem comes and goes because of the harmonic periods inherent in things that spin very quickly. Any out of balance problems can easily show up as transient vibrations inside the car.