Depends highly on the shop, I just recently dealt with Indy Rack and Axle and boy what a waste of time. I was initially very pleased with the low price and fast turnaround time, but I got what I paid for. Cheap "Neapco" joint with the wrong style zerk that I couldn't access with my grease gun, and a terrible balance the manifested itself at all speeds over 55 mph as an awful buzzing/vibration, having them rebalance it yielded the same result. They had "straightened it" as well, which probably just means they actually bent it, since this was a stock driveshaft on a truck with 110k highway miles and no accidents. Ended up grabbing a junk yard shaft for $25 that atleast got me back to where I started (occasional minor vibrations going up hill under load), no driveline vibes at any other speeds. Got a refund for the straightening and balance, took that original shaft to a different shop where he took off the sloppily applied weights and redid the straightening and balance, have yet to try this newly balanced shaft.
Needless to say I'm a bit gun shy about recommending the driveline shop route unless I knew they had the equipment/fittings to balance Toyota shafts properly.
If the joints move smoothly without excess looseness, you might get away with replacing zerks and lubing everything back up. My junkyard shaft actually has a tiny bit of a tighter spot on the rearmost joint (that mounts to the rear diff), but the truck drives pretty darn good.
To answer your question, the front shaft has 2 traditional u joints on flanges, both easily replaced if necessary, but probably not a source of driveline issues on a daily basis (ie there is never significant torque on these in regular driving, not to mention little chance of high torque at high speeds). Rear shaft has a double cardan 'CV' that mounts to the t-case, there's been some talk about sourcing appropriate replacement u joints, but generally I think these are not problematic even on high mile unmaintained vehicles. Just add some fresh grease to both joints and the intermediate zerk in the middle of the double cardan. Rear-most joint is a regular, replaceable u-joint, and is in fact something that can wear and cause issues.
TL;DR: replace zerks and lube it up, check for obvious issues, particularly on the rearmost joint. You might be just fine!