U joint or control bearing?

Greetings,
I have a 2010 taco TRD sport, V6, quad cab long bed.

Recently have a loud squeak from the rear with the vehicle is in Drive and moving (squeak appears to be rotational). Audible at low speeds, undetermined if it's audible at high speeds. No sound in neutral while rolling or in reverse at rolling. Going to climb under this afternoon when I get home and poke around. Curious to thoughts and recommendations. Intermediate skill level and own a grease gun

 

Drop the driveshaft and check the u-joints

 

you can grease, inspect, and rebuild shafts

never heard of them squeaking

my leafs squeak sometimes in certain conditions but that seems normal

 

I have the same problem. Everything I’ve read points to U-joints. I also have vibration. I’ve lifted my truck a couple inches with Bilstein shocks and a spacer in the back. Put a drop kit in it the other day and that seemed to eliminate most the vibration. Installing new u-joints and carrier bearing today.
This is exactly what mine sounds like.
https://youtu.be/4J9iy67R31M?si=FAuS068h7OTND0cB