Is yours 2wd or 4wd?
The 4wd's have grease zerks that need to be attended to periodically. The 2wd's are factory sealed drivelines.
I had a u-joint issue on my 2000 2wd. I don't remember having a clank when shifting while parked, but I do remember a clank and slack feeling when quickly releasing the accelerator while at highway speeds. Then one day, it just started started making a loud screeching noise. Got talked into a non-oem u-joints cause theirs had grease zerks. Those u-jointst ended up shaking the vehicle at speed and the insult was that the zerks were impossible to service no matter what grease gun attachment I used. Later, the whole driveshaft was replaced and balanced and still did not fix the problem. After a year I had had it and had the driveline replaced with oem Toyota part and voila, smooth as butter.
If your issue is a u-joint, I recommend you keep the it oem. From what you describe, it sounds like it could be your u-joint, but possibly check your slip yoke as well.
Have you changed your radiator to avoid the pink milkshake? If not, oem obscenely expensive and something like a Koyorad radiator will work just fine.