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Well the U joints are the non serviceable plastic molded type, so I will have to take it to a shop. However, all of the joints feel tight and smooth when I move them with my hands. If the joints were bad, would it be obvious?
Time to give this thread some closure. I took it to a shop and they replaced the 3 u joints. Now it is all good and they will be easy to replace in the future if they go bad again.