When it sounds like a squirrel is under your truck upon acceleration and stopping, your u-joints are bad.
There will be play in the drive line when they are bad.
Also, if replaced by dealer under warranty, they tend to replace the entire drive shaft. They replaced front and rear for my '05 around 36k miles.
Non serviceable = no grease zerks, you can't grease them. They are however, replaceable. The dealer does not replace U-joints, they replace the entire drive shaft because it is faster. Most dealers do not keep these in stock and it usually takes 1 week to get the parts in. Plan for this in your scheduled repair.
You're probably fine to drive it until the parts come in.