I must have missed this thread when it started, but reading it now makes me crazy. Launch shudder (shudder from a stop to 5-8 mph) has absolutely nothing to do with the drive shaft, drive shaft balance, or U-joints. Changing any of the parts above is a waste of your time and DC's money, and just shows you the technician working on your truck is not qualified to repair it. It is totally related to drive line angle, and is most evident in trucks with two piece shafts. It may be present empty or loaded, and is noticed when either empty or loaded, but never both. There is an old TSB that covers trucks up through about 2004, but it still applies through 2007. The theory is exactly the same then as now, and I suspect into the future. The reason we never felt it in "old" trucks was because the suspension was so stiff it did not change the angles enough to matter. The down side was the truck beat your kidneys to death driving down the road. As I get older I think I like the occasional shudder way more than the lousy ride.
With the softer suspension and longer spring travel it is difficult to keep it away at both empty and loaded ride heights. As most people use their trucks most of the time empty, or most of the time loaded, it is just an annoyance if it occurs occasionally. The best way to eliminate it loaded is to install air bags to keep the ride height closer to the unloaded height. The advantage is you can deflate the bags when unloaded, and you get even a better ride than stock.
OK, I feel better now.