The old method was to get the vehicle in the air so you could rotate the entire driveline and get up good and close to it to watch for movement that shouldn't be happening. Hold one segment still and try to move the adjacent segment, working front to back. You try to move the segment, turn it 45°, try to move it again. Check for looseness, or "slop" in the joints. Check all carrier bearings as you go. Get the whole set of U-joints if something needs replacing, that way you don't have a return for 'the one you didn't replace'.