Yes. When I would take off from a stop, I would get a slight clunk. I crawled under the truck and shot some grease into all the zerk fittings on the drive shaft...no more clunking almost 8 months later.
#2 lithium grease...read this, it'll tell you everything you need to know.
4Runners.org - Lubing Your Driveshaft
yeah normally means you need to re-grease the Slip Yoke at the rear differential, I get it every once in a while. Problem is you have to be careful not to over grease the yoke too, also if you have shop service your vehicle check you receipt since alot list re-grease joints so obviously they skipped that (I know I forgot about it alot when I worked as a GS for a local Goodyear here).