Noise in Reverse

100 % universal joint sound in your video .
The factory grease in your universal joints is only an assembly lube . Your driveline needs to be lubricated at every oil change .
Read what Spicer has to say about greasing your driveline . I am certain that Spicer still has the Toyota contract . They make all your driveshafts
http://www2.dana.com/pdf/J3299-2-DSSP.PDF
Read what federal Mogul has to say http://aftermarket.federalmogul.com/en-US/Technical/Documents/Driveline FAQ's.pdf
Here is a write up to help you https://www.tacomaworld.com/threads/greasing-entire-drive-shaft-u-joints-5-zerks-total.56976/
If you cant see any grease zerks , you've got polypropylene universal joints . They are designed for 50,000 trouble free miles according to the seminars I have trained at .
If you do not own a grease gun , go buy one because you are going to need it.
The proper and " ONLY " way to test for a bad universal joint is by removing the driveshaft

 

A lot of great info, I appreciate it! I don't need to get my oil change until the beginning of next month. Would I be okay to wait until then? I only drive around 300 miles a month

 

You will be perfectly fine waiting until next month . Keep a close eye on the universal joint noise . As of now , its only chirping in reverse . Search around for some good quality U joints . You can usually get them fairly cheap if you look hard enough . Make sure the new ones have grease zerks . Once the new u-joints have been installed , grease with every oil change .
If you take your truck swimming , force the water out of the u-joints with grease when you get home

 

So are you saying the ujoint is bad or should getting the Zerk greased thoroughly solve the problem?

 

Proper way to check the u-joints is by removing the driveshaft . Once the driveshaft is removed , manipulate each universal joint by hand feeling for tight spots . There are 4 individual bearing cups on each u -joint . You cant tell if they are seized when the driveshaft is mounted to your drive line .
You have a bad u joint from the sound in your video . This is 100 % guaranteed .
Your truck is production year 2000 and the u joints need to be purged at every oil change . Read the links I provided for the additional information
We dont know if they have ever been replaced . Are they 16 years old ?
I am saying you have 1 bad u-joint according to the sound in your video . Extremely common sound that a blown u joint will make when it needs to be replaced .
To answer your question , you are too late for greasing . The needles inside the bearing cup on one of your u joints are worn out from lack of lubrication

 

I really appreciate the help. Honestly, I don't have the experience or knowledge to desire to replace all the ujoints and would rather look into getting the whole driveline shaft replaced and be done with it. Do you know where I could find that for OEM or a very trusted manufacture that have zerks?

 

I'm taking it to a shop that specializes in drive shafts, transmissions, etc. where they'll check it out.

 

Part of the rear ujoint was rusted out. It's been replaced and the noise/vibrations are gone