Driveshaft came loose on the road help

[KidVermicious]

And for the u joint all I have to buy is the propeller shift right? Is it possible to check the u joints while it is bolted on?

The propeller shaft is Toyotas' name for the drive shaft. It's everything, the female and male splined sections and the ujoints on their ends.

The ujoints are serviceable, you almost certainly don't have to buy another complete driveshaft unless the splines in the slip section are wallowed out, and even then a driveshaft shop might be able to save it, I don't know. Tintop has good advice, drop the shaft and check it out on your bench.