I just replaced one of my rear shaft u-joints. The symptoms were: squeaking at very low speeds, vibration under acceleration, and heavy vibrations around 70-80 mph.
I'm sure glad I did it cause when I pulled the drive shaft off, the rear u-joint was so stiff on one axis that it barely moved with considerable coaxing. Also, just a slight movement on the joint produced the same squeaking noise. The front u-joint moved freely without any noise.
Before removing the shaft, I marked the bottom of all parts of the shaft with a paint marker, used the parking brake, and put the 5-spd in gear so neither the transmission end or the diff. end would move. Removing the bolts (4x4s don't have a yoke that slides into the transfer case, instead bolts) was not bad after soaking with PB. I used a 12 point 12mm socket (or was it 1/2 inch?) and a 1/2" breaker bar, then a 3/8" ratchet. It took some creative arm routing to get to the top bolts, but again, it wasn't too bad. Took me 15 min.
Getting the old u-joint out was a bear of a job. I called a few shops and most of them wouldn't replace it if I just brought in the driveshaft... wanted to r&r the shaft for liability reasons...
In removing the old joint, I first bent a big 8-inch c-clamp, then pounded on it using the two socket method with only about a mm of movement... fail. So I called a friend and found out he had a vice I could use (note: when using a vice, be sure to support the other end of the shaft). The two socket method: put a socket that has an outside diameter (O.D.) slightly smaller than the bearing cap on one end and a socket with an O.D. slightly larger than the bearing cap on the other side of the joint. Note: this vice wasn't big enough to use two sockets so I had to use a bolt instead of the smaller socket. Use the vice to press them together. It was barely budging so I tried adding heat with a torch... didn't help. Eventually I found that if I apply pressure with the vice, use plenty of PB, and hit the ears of the driveshaft with a hammer, it would break loose a little at a time. It took several cycles of this method and over an hour to remove the u-joint.
I finally got the old u-joint out and as stated by IZwack, one of the bearing caps was rusted and filled with rust dust rather than needle bearings... I was driving on borrowed time and I'm sure another thousand miles or less and I would have dropped the driveshaft while driving.
I also noticed that a couple of the holes in the shaft's ears had sharp barbs inside them so I used a file and ground them smooth. After all that, getting the new u-joint in was a breeze. Just remove the bearing caps from the new joint being careful not to dislodge any of the needle bearings, position the joint in the driveshaft's ears, lay that end in the vice, start the bearing caps into the holes and press them together. I used large washers when pressing to prevent any damage to the caps. Then when they were flush with the ears, I used the same bolt with a smaller O.D. to press them to the right depth (to clear the channels for the retainer clips). Installing the new u-joint took maybe 20-30 mins. I opted for the greasable u-joints, which were cheaper anyway...
Reinstalling the drive shaft was also pretty easy. Start with the front end, then the back, being sure that your marks are oriented the way they were when you removed the shaft. Haynes said to tighten to 10-16 lb/ft. I thought that was pretty low so went up to about 20 lb/ft.
This was the first time I had replaced a u-joint. Overall, it took 3-4 hours, including about a half hour for calling a few shops and then locating a vice. I bled twice, but nothing serious. The worst part was by far removing the old u-joint. The rest was easy. Now my truck is smooth under acceleration and at speed, with no low-speed squeaking (except for the shocks... maybe another time). Also, my clutch chatter has disappeared...
Hope this helps someone.