2001 Dodge Ram 1500 4x4-Clunking when shifting from Park to Reverse?

The clunking sounds terrible. The truck clunks when I'm driving and let off the gas, shifting through gears. I was informed that it was the U-joints and was told to shake to drive shaft to see if there is play. No play in the drive shaft that I know of. What do I need to do to eliminate this "clunking"? Any help would be greatly appreciated. Thank you.
 
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