DP Ketchum, replace the joints, even if they arent bad now they will be IMO.
I just replaced the three rear shafts u joints on my 2004 long bed SRW 1 ton and it solved the launch shudder i had since it was new.

And i had to replace the $50 OEM only dust boot on the rear of the 6 speed too, of course DC says its not part of the drive train warrantee. It was cracked, possibly from the wobble a bad joint may have caused.
It did it hot or cold and the geniuses at DC replaced my clutch at 7500 miles instead and then told me they all do it (sure, go buy a ford). I am blown away at the incompetence of all the local Dodge dealers..... NAPA dealers here seem to know more!
I used precision 351 u joints, installed at NAPA for $15 each. they went in easy, but after reading other posts I decided not to try it myself as some folks find they bind when trying to slip into the yokes.
Upon inspecting the u joints, i found they all had some grease but one or maybe two caps were kind of sticky or rough on spinning.
Since the OEM joints are apparently such pieces of ****, I am thinking of doing the rest, front driveshaft Cardan H joint (2 each Precision #232) and at front axle (1 each Precision # 235) which should be easy. (from rockauto.com of course).
Can anyone tell me if doning the front axle U joints left and right is a tough job? I dont trust any of the original joints at this point.