You can check the front axle u-joints a few different ways. With the tires on the ground you can reach in the joints with your hands or a bar and apply pressure to them, looking for ANY differences in movement between the caps and the bodies. Any movement would indicate worn out and there's play in the trunion/cap.
Or you can jack up one tire and with the transfer case in 4wd, try to rotate that tire which is off the ground back and forth while watching the joints on that side. Again, looking for any excess movement between the caps and body.
Also, jack up both tires off the ground at the same time and have the transfer case in 2wd. With the tires pointed straight, spin the tires and determine their smoothness and resistance to spin. Then turn the wheel full lock and do the same thing, again watching for smoothness and resistance to spin. Turn full lock in the other direction and repeat. A tight or bad u-joint will cause the tires to resist spinning when the tires are turned, and they may vibrate or make noises you can hear too.
A tight or bad front axle u-joint will cause a vibration but generally this is something you'll feel more pronounced when your turning the steering wheel at all. Going straight the u-joints dont move and simply rotate slowly so they arent going to vibrate the same as if they're on a driveshaft which is spinning much much fast than the axle rotates.
As for the front driveshaft joints... They will vibrate like a humming vibrating tool if they're bad or need to be replaced. If thats more what you're feeling then you can stop looking at the axles.