so I got the rear driveshaft and u-joints taken out, and all put back in, and there are no more vibrations! the problem is that the front driveshaft has a weird u-joint that I can't really do anything with... :/ The workers at the shop said to bring it to a driveline specialist to get the 2 joints replaced.
The good news is that my u-joint wasnt "broken" it just wasn't greased for idk how long...

. Here is a picture

It is a good thing i replaced that one, at least I think so, I just want to get the last 2 done without any more trouble... :/.
Well I am going to get my phoenix now that I know my u-joints can handle it. I am also going to grease up everything I can in my truck so I won't have to worry about it again

.