Most diesel's have a 5,000 mile grease interval for the driveshaft u-joints. A u-joint cup accelerates and decelerates 64 times/revolution. This accel/decel cycling does not change with driveshaft length. I would replace or have the u-joints replaced and then check the pinion angle to make sure your engine or trans mounts (if you have any) are not sagged. You want the angle difference to be 3 degrees or less. Why replace what may be good u-joints? Because if you do not you will have that nagging question bouncing around your head, harshing your mellow, as you drive down the road.
Randy