If you've never touched in the life of the truck the U-joints or Rotoflex then with 84K it's good timing.
Since your doing the U's anyway, then you're set there, but inspect the Rotoflex for cracks/wear, and it's not as hard as a U joint for replacement (simple bolt assembly - just note which way the bolts come out so they can go back in the same - there are plenty of directions out there for this, too)
Since this is your weekend plan - go for it, and check over the list of other stuff for piece of mind prior to the test drive. Hopefully it's simple and this will cure the vibes.