As jimfulco suggested, wrap the U-joints with a 2-4 lb hammer. This will bring the U-joint to its fundamental frequency and set them in their designed physical location. Does a tuning fork come to mind?
Next time the joint is replaced, use a steel support between the yoke to prevent it from collapsing.
There is a good amount of 'slop' with the output shaft as the sliding yoke, when installed, provides the second bearing support for the shaft.
You might install the d/shaft and view from underneath the d/shaft rotating with the drivetrain in gear to see the physical movement of the shaft. I have found with the engine idling and in 1st gear, an off-center U-joint. You might even remove the tire/wheel combo, replace the lugnuts to hold on the brake drums, and spin up to see/feel if the imbalance is gone.
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