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This site will help you find just about any part on your truck, but there is a slip joint in each driveline to allow for the change in distance to the t-case as the suspensions move. On Broncos, it's in the end of each driveshaft where they connect to the diffs. On most pickups, it's on the back of the t-case for the rear (slip yoke), and the same as the Bronco on the front.
The first step to diagnosing an electronically-controlled transmission is to pull the codes. If the MLPS is bad, it'll probably show up. You could also pull the ABS sensor from the rear diff & clean any metal shavings off the tiny metal tip. If you find any, you should drain the diff and find out why it's wearing like that. The fill plug should also have a magnet (on ?'90-up), so clean it, too.
the slip joint is where the 2 pieces of the 2-piece driveshaft interlock with each other, and they must slide in and out with each other to compensate for suspension travel, thus shortening and lengthening the driveshaft. There is a rubber boot over this area, to prevent entrance of water, dirt, and the like. Take off (more or less slide to one end or the other) the boot (which is held on by metal cv boot clamps) and without necessarily having to remove any part of the driveshaft, lube that area up with even some good spray lubricant (NOT NOT NOT NOT WD-40, which is a solvent, not a lubricant), and you can reinstall the boot with just plastic wire ties.