Driveshaft play?

We'll the other day I got under my truck(2002 extended cab prerunner automatic) because I didn't know if it was just axle wrap or maybe some play in the driveshaft. This video is with no ebrake on as we'll....is it possible that the link in the middle is bad and causing excessive play? It doesn't make any noises just when it changes gears it odd and so is coming to a stop and taking off...not sure if all that could be from lead packs though? Mainly the shifting is what concerns mehttp://youtu.be/Daq3p8LkBHQ

 

I was just doing some more research could it be a bad transmission sensor? I don't have any check engine lights on though but was wondering if there was a way I could test that?