Slip yokes are common to have a bit of slop, but i have not noticed significant vibration from them unless they are really bad. My guess would be throw some new u-joints in there, after 120k and the torque of a cummins they are probably pretty done. It couldnt hurt, and they are not expensive. If it is still there then see if a driveline shop can ballance it or put a new slip on it if that is the source of vibration. Once you give a driveline to a shop, look at spending a hundred or two, because they will find something to change you.
I have found many medium to hight speed vibrations in the past to be due to tires, and not drivetrain. just a thought.
Idle adjustment is on the far side of the injection pump up against the cylinder head. Just tune it untill you get the idle you want.
Ian-