Prerunner U joint

So my truck has had some bad vibration issues when braking/accelerating aggressively. Brought it to my normal mechanic and he says he could't identify the cause but he though that maybe the drive shaft was too short... So the next step was bringing it to the dealership where they said the whole drive shaft need replacement and they'd charge me $1000.00 for the pleasure. The cited that the installment of an aftermarket U joint (which had earlier fixed a squeaking problem). So I was wondering if someone here could look at the pics of my U joints and see if perhaphs that was the cause of my issues. As a Prerunner I have non greasable U joint.

thanks

 

Why did the dealership feel that it was necessary to replace the entire driveshaft? Also, if you replaced the u-joints recently, why didn't you install greasable joints? If all you need are new u-joints, they're like $10/ea and I would buy greasable ones. I just bought Moog ones through Rock Auto, will install this weekend.

Lastly, is your tailpiece from your transmission leaking? I see a little residue and can't tell if you just wiped it clean or not.

 

in that 4th pic, looks like the rubber seal isn't seated on the cap of the ujoint?
looks a lil rusty maybe?

 

can't explain the dealerships point of view.

The new u joint is greasable.

And yes the the transmission is leaking a bit, need a new transmission extension housing seal

 

The front looks new while the others seem to be very rusty. You should have had them all replaced at the same time. One looks like it is missing the seals.