If you have an 84 or an 85 van, then you are in good shape. Toyota made your u-joints replaceable. This means any reputable auto parts store should be able to easily supply you good quality and inexpensive u-joints. If you have basic tools and a medium - large size bench vise, you can replace u-joints yourself.
If however you have an 86 - 89 van, then it's a whole different story. Starting in 86 Toyota started staking the u-joints. This means they loosely assembled the u-joints in the drive-line, then a big machine crushed the outside edges of the drive-line bores to permanently attach the u-joints to the drive-line. This may be fine for the life of the u-joint, but when a u-joint fails, it typically means replacing the entire drive-line.
It's not so bad I guess when you consider the u-joints last around 150 - 250k miles, but it is a bit frustrating and annoying just the same. If you have staked u-joints and one fails, you have several options. If you have an automatic 2wd van, the good news is all automatic 2wd van drive-lines from 84 - 89 are interchangeable. So if you can find an 84 or 85 van (with an automatic transmission) in a salvage yard, be sure to grab that drive-line as it will be easy to replace u-joints and will last for many many years to come.
If you can't find a drive-line off an 84 - 85 van, you have a manual transmission, or a 4wd, you could take your old drive-shaft to a shop that specializes in building custom drive-shafts. A drive-shaft shop can build you a new beefier unit with replaceable u-joints. This is a good solution when it comes to durability, but will most likely be the most expensive option (probably cost between $300 - $500).
Another option would be to order new Toyota shaft(s), but that would still be expensive and you would still be stuck with a wimpy drive-line with non-replaceable u-joints. At least it would be new and would probably last another couple hundred thousand miles (assuming normal use). These can be purchased (if still available) through discount internet Toyota parts sites (such as 1stToyotaParts.com) for around $250 each + shipping. Here is a list of the different Toyota drive-line part numbers:
04371-22010 (universal joint, van, auto and man trans, 2wd 1984 - 1985) *joint only
37110-28100 (drive shaft, van, manual trans, 2wd 1984 - 1985) *complete with removable joints
37110-28110 (drive shaft, van, automatic trans, 2wd 1984 - 1985) *complete with removable joints (can also be used on 86 - 89 2wd automatic vans) *NLA
37110-28240 (drive shaft, van, manual trans, 2wd 1986 - 1989) *staked non-removable joints
37110-28150 (drive shaft, van, automatic trans, 2wd 1986 - 1989) *staked non-removable joints
37110-28200 (rear drive shaft, van, manual trans, 4wd 1987 - 1989) *staked non-removable joints
37110-28210 (rear drive shaft, van, automatic trans, 4wd 1987 - 1989) *staked non-removable joints
37140-28010 (front drive shaft, van, manual trans, 4wd 1987 - 1989) *staked non-removable joints
37140-28020 (front drive shaft, van, automatic trans, 4wd 1987 - 1989) *staked non-removable joints
*UPDATE* 37110-28110 (drive shaft, van automatic trans 2wd 1984 - 1985) is NLA through Toyota. If ordered through them they will substitute with 37110-28150 (drive shaft, van automatic trans, 2wd 1986 - 1989) *staked non-removable joints.
Another (and the least expensive) choice would be to purchase new specialty u-joints and pay a drive-line shop to change them out. Rockford Drive Shaft Service in Rockford IL manufactures replacement u-joints for use in drive-lines with factory staked U joints. HERE is a PDF file that shows some of their products and gives their contact info. They don't specifically list the van, but they do manufacture a joint that will work for our shafts. For the 4wd, that u-joint is Rockford #430-10 for the rear drive shaft. If you need joints for the front shaft, or if you're working on a 2wd, I suspect you would need the same one but I don't know that for sure. If you call them they should be able to verify the correct part numbers. If you go the Rockford route, the shaft will need to be slightly machined, the old joints pressed out, the bores for the cups cleaned up, then the Rockford u-joints can be installed (this should be done by a drive-line shop). Once complete, from this time forward your u-joints will be easy to replace (using the Rockford joints) but due to slightly reduced U joint diameters, you will have a slightly weaker drive-line than original. If you are usually easy on your van and don't push the limits, then the Rockford u-joints should be fine. If however you push your van hard, you may wish to rule out this type of repair and go for the custom built drive shaft. Just remember breaking a u-joint / drive-line can be very dangerous and can also break your transfer case and / or other parts.
One final (and what I consider the best) option is to purchase a new Powertrain Industries drive-line. They are located in Garden Grove, CA. Their phone number is 1-800-798-4585. They are making replacement drive-lines for just about everything now and they typically sell on the internet for about $175 - $230 complete. Rather than compete with these guys, many drive-line shops are now just purchasing these completed assemblies, marking them up about $100 or so, then reselling them. If you need a drive-line, I'd try Powertrain Industries before spending a lot of extra money at your local drive-line shop. Chances are you'll end up with one of these anyhow. Here's what they offer for Toyota vans + part numbers:
1984-1989 2WD AUTOMATIC TRANSMISSION #2391-604
1984-1985 2WD MANUAL TRANSMISSION #2391-605
1986-1989 2WD MANUAL TRANSMISSION #2391-606
1987-1989 4WD AUTOMATIC TRANSMISSION (Rear shaft) #2391-607
1987-1989 4WD AUTOMATIC TRANSMISSION (Front shaft) #2391-603
1987-1989 4WD MANUAL TRANSMISSION (Rear shaft) #2391-608
1987-1989 4WD MANUAL TRANSMISSION (Front shaft) #2391-602
If you have any questions, call and ask. I got one of their rear shafts for my All-Trac Previa. It has the heavy duty Spicer 1310 series removable U-Joints with grease zerks and appears to be a quality built shaft. Here's a picture of mine, I paid $228. Tim
Note: Please feel free to reply to this thread with updated information and/or your personal results/experience with drive-line replacement/repair.