Hey Scotty I have a 2001 Toyota Highlander v6 awd with 196,000 miles. For the past months I’ve noticed the car makes a noise every time I accelerate from a stop or when I let off the brakes and when I go from drive into reverse I always hear a tiny clunking or grinding noise and I knew it was the driveshaft or u joint but everything ran fine and it was no big deal so I ignored it. Today it started making a significant big noise that everyone inside can hear and it came under the car between the passenger and driver so I decided to not drive it until I get it fixed. My question is can I replace just the u joint or do I have to replace the whole drive shaft on this specific vehicle I hear different answers online but don’t know if I can replace just the u joint and should I do it myself or take it to a professional mechanic. I do basic maintenance on all my cars but I’m still learning. Thank you.