Trd, I put alot of info on Haddix's post on here and Yotatech. There were a few links on the yota tread to previous u joint problems too.
Just found this in my Toyota repair manual.
Test for Driveshaft vibration:
1. Drive vehicle and note engine speed at which the vibration is the most pronounced. Now shift into another gear and bring the engine to the same speed (rpm).
2. If the vibration occurs at the same engine speed regardless of what gear the transmission is in, the driveshaft is NOT at fault.
3. If vibration decreases or is eliminated when shifted into another gear at the same engine speeds, refer to the following.
4.Bent or dented driveshaft. Inspect and replace as necessary.
5. Undercoating or built up dirt, etc. on the driveshaft. Clean shaft thoroughly.
6. Worn Universal joint bearings. Replace the U-joints or driveshaft as necessary.
7. Driveshaft and/or companion flange out of balance. Check for missing weights on the shaft. Remove driveshaft and reinstall 180 degrees from original position, then recheck. Have driveshaft balanced if problem persists.
8. Loose driveshaft mounting bolts/nuts.
9. Defective center bearing, if so equpped.
10. Worn transmission rear bushing.
Maybe a wheel bearing, worn shock bushing, lug nuts that are not on right, loose mounted steering gear housing or loose steering components, or damaged idler arm. Those are if it is vibrating all the time no matter what the speed or gear. (can be better or worse dependent on speed)