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I am thinking that you have a 2wd truck, and that you have a automatic transmission. If so, you can just remove the bolts holding the rear of the driveshaft to the carrier on the differential. After lowering the driveshft so you have some clearance, rest so that you can catch the driveshaft. There is about 8 inches in the transmission. That is the yoke, you can just pull it straight out.
I haven't done it on a manual, but I am sure that the whole yoke pulls straight out of the tailshaft housing. There might be some grease that comes out, just remeber to replace it with new oil. Tell me what tranny you have and I will tell you what oil you need.
4 spd is not same. Look at front u-joint you will see u-bolts that hold the joint and shaft to the yoke. The Yoke is fixed and will not come off without removing the big nut in the center. Take a 1/2" end wrench and take off the four fine thread nuts and lock washers that hold the u-bolts on. Then remove the u-bolts. Then take something and pry the joint out of the yoke. If you have a center carrier bearing you will have to drop this from the frame and take the same style u-bolts off the rear axle yoke so that you can take the whole mess out from under the truck.
Then how you change the u-joint is up to you. But if you've never done one before and don't have any help or tools or facilities it will be cheaper to take the shaft to a shop than kill yourself trying to fix it with a broken screwdriver and a hammer. ( I' m not being sarcastic here, I've changed a U-joint with a broken screwdriver, a hammer, two blocks of wood and some sockets. I still have the scar on my hand,,,,,ha ha.)