Very timely post. The factory U-joints on my '07 have 202K miles on them. They get clunky toward the end of each oil change interval when shifting from Park to Drive, or Park to Reverse. After greasing them during oil change, they're quiet again for a few thousand miles.
My thinking was to have new Toyota replacements pressed in some time this Spring/Summer given how long these have lasted with negligent maintenance by the original owner. But I'm interested to see what gets posted here.