Found a website that builds brand new drive shafts with spicer u-joints for a reasonable price
http://www.alldrivelines.com/Jeep.html
Wrong. These aren't your typical driveshafts. They have constant velocity joints as opposed to the usual u-joints. We have a 2001 Grand Cherokee in right now with the grinding noise. We tried 3 different used shafts to find they have the same noise, but it varries slightly. The driveshaft repair shop could not duplicate the noise on their machine, and could not see anything wrong. We are about to spend the $600 on a new driveshaft from a dealer.
If you are talking about only the drive shaft joints being bad,take it out and take it to a driveshaft repair shop. Look in the yellow pages or call a trans shop and ask who they use to check,straighten and balance drive shafts. About $150.00 and may do it while you wait. Might as well put new joints in the rear one and balance while your there.
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