Tacoma X-cab: clunks into gear/ vibration

[cts24]

I'm new to this forum and I'm needing some help with a problem listed in the subject line.
I have a 95 Tacoma,4x4,V6, auto. with 110+K miles. Bought it second hand a few years ago. Have had the "clunk" when coming to a stop/acceleration from a dead stop, especially on an incline, the whole time I've had the truck. I've read a few posts here and it seems to be pretty common with Tacos.
Lately, I've noticed a vibration while driving - usually notice it more between 45-55 m.p.h.
Also have started hearing a loud "clunk" when shifting from park to reverse, reverse to drive and vice versa.
I was checking the drive shaft and felt a little play. In another post, someone diagonosed a similar situation as a universal joint needs to be replaced.
Does this sound right? I've checked prices and they don't seem to be too expensive.
I'm not a great mechanic by any means, tho I do some minor repairs/general upkeep on my vehicles.
Never replaced a universal joint before. How difficult is this?
Would this be something better left to a certified mechanic? I'm looking at keeping the expense down as low as possible.
Any advice would be appreciated.

[Flash75]

Sounds like the driveshaft assembly needs a good inspection for wear or damage. U-joints can be replaced by an owner, it helps if you have a good vise and a variety of other tools. Your truck probably has a double cardan joint in addition to two U-joints. Some owners have found that their Toyota shops overlook perodic lubrication of driveshaft grease fittings on 4 x 4 truck driveshafts when performing maintenance. Not greasing the fittings causes premature wear and sometimes expensive replacement of the driveshaft. I hope yours hasn't been neglected.

You may want to read this link about driveline basics to get an idea of what may be involved.
http://www.4x4wire.com/toyota/tech/driveline/
Near the bottom you can click on on U-joint replacement to see if it's a job you feel you want to do. Lots of owners have changed their U-joints with no problems.
http://www.4x4wire.com/tech/axle/ujoint/

You don't mention where you are located but if you are near a big city there should be some repair shops that do truck drive line repairs. They should be able to repair your drive shaft if you elect to let someone else do the work. If you take it to a Toyota dealer most of them will want to replace the complete driveshaft, very costly $$$$$.

Good luck,

Clifton