I've replaced a lot of u-joints over the years, but never on a 2wd 4Runner. The methods for doing so aren't much different from one make to the next. There are some variations in u-joint retention either with Snap Rings, C-clips, or bolt-on straps. The 2wd 4Runner probably uses the C-clip style.
When removing the driveshaft make sure the vehicle cannot roll. After the driveshaft is out, mark the parts with paint so they go back together in the same position in relation to the other parts that they were in before dis-assembly. Otherwise a vibration due to the driveshaft now possibly being out of balance, is likely.
There is some feel involved in getting the u-joints installed so they aren't binding in any direction.
I imagine there are probably lots of how-to guides and/or videos on how to do the job, on the 'net.
If you aren't comfortable swapping them out, a driveline shop should swap them fairly cheaply.
When removing the driveshaft make sure the vehicle cannot roll. After the driveshaft is out, mark the parts with paint so they go back together in the same position in relation to the other parts that they were in before dis-assembly. Otherwise a vibration due to the driveshaft now possibly being out of balance, is likely.
There is some feel involved in getting the u-joints installed so they aren't binding in any direction.
I imagine there are probably lots of how-to guides and/or videos on how to do the job, on the 'net.
If you aren't comfortable swapping them out, a driveline shop should swap them fairly cheaply.