It sounds simple, but this reeks of having to rotate the shaft 4 times or more to access these bolts. I would approach Ben's quandry thusly:
1. Wait until there's one or more additional and good reasons to get the truck up on stands in the garage, e.g. tire rotation, oil change, diff lube, transmission pan.
2. Raise the both front and rear, blocking, using four (4) rated stands, and all other safety precautions. I will not get under a vehicle supported by a jack. If you have a hoist stop reading now cause you're way ahead of me
3. Put the transmission and/or TCase in neutral only after its -DEAD!- locked in place in the air. This is so the shafts can be rotated via superman forearm strength or by rotating the drive wheels.
4. Set the torque wrench, crawl or creep under with the proper tools and a flashlight, locate the bolt, and righty tighty until it clicks. I might need to wedge a big screwdriver or small prybar in the u-joint yoke to keep it from spinning.
5. Spin the shaft using the prybar in the yoke to access other bolts and repeat. (i advocate letting the drivewheels hang and spin because getting out & up & down & under 4 times can hurt)
It would be safer but much more painful to do it with the vehicle on the ground if I can fit.
6. Breakdance to the front driveshaft and repeat.
7. If the bolts are all tight, none loose, I'll never do it again except following up after a driveshaft remove/replace.
*The above opinion is worth what you've paid for it and is provided for entertainment purposes only.
*The author has never been under a 4x4 Toyota.
*The author is fully aware of the risks of working under raised vehicles, and does not suggest anyone do it this way.
*Use a licensed mechanic or assume your own risks.
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