The only 3rd gen 2wd 4Runner I've seen pics of, had sealed, so-called lubed-for-life U-joints and a slip yoke at the tail end of the transmission.
The 4wd's have a drive flange at the T-case output, a double cardon joint, a slip-joint in the driveshaft itself, a rear u-joint, and zerk (grease) fittings for all of the above.
If your 2wd is as I described, sealed u-joints, and slip yoke at the trans, then there's nothing to grease. The slip yoke is lubed by the oil in the transmission. The splines in the slip yoke can wear, the splines of the transmission output shaft can wear, and the bushing which keeps the slip yoke centered can wear.
One way to determine if there is excess play in the splines of the slip yoke, the trans output shaft or bushing, is to park the runner on a level surface so it won't roll, turn the engine off, put the transmission in neutral, and don't apply the parking brake. Then get under the truck, and grab the driveshaft near the slip yoke and feel if you can move it noticeably up and down or side to side. If there is any noticeable play, then I'd suggest driving the 'Runner back to the driveline shop for their opinion of what needs to be done.
Good luck.