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Welcome, I'm Chris (aka Moose) I prefer to work when others don't, I am here around lunch and after dinner till after midnight.
The only way to check the driveshaft joints is to remove the driveshaft and bend the joints in all directions to see if there sloppy or if they are hard to bend. They can not be checked while the shaft is mounted. Are you sure this is not a engine misfire that you are feeling or a possibly toque converter shudder? Is this a constant vibration when it occurs or is it brief?
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Hello again Chris here,
Glad you found it to be a misfire like I mentioned on the 2nd.
What kind of steering wheel concerns are you having?