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Like @Guruman mentioned, aligning the yolks is the same as "Indexing". I was a little lazy and snagged an image off the web rather than crawling under a truck to take a picture. ANYHOW, picture below is what we are talking about. Align the joints is another way of saying "index your drive...
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Grease for sure.
I would start with the drive shafts. Push and wiggle them too - searching for "play" in the joints and slip yoke before you hit them with a grease gun... Have you thought about (read about) getting the shafts on your new truck balanced? That is a big deal. Also, cheap and...
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