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Q:

rear u joint replacement on 2005 Jeep Grand Cherokee

Rookie cbe0621eac06868b3efe0d8d1d3611e23c60d3114864ea2ec19a68cfbd3eebab
was told both front & rear u joints are serviced as an assembly with the driveshafts there are no u joints or service procedures for u joint replacement
(1) Answer
U-joints available at most any parts store, so evidently you were told wrong!
Here are the part numbers for both rear shaft u-joints: #280 @ trans. #269 @ read end!! (NAPA)