drive shaft rear

What is your question?

the dealership replace my drive shaft a few times,at no cost to me. It feels like the rear brakes are releasing late(BANG) when i pull out at a light,it doesn't do it all the time. if i grease the yoke,it is better for a while.Toyota says no damage is being done to the truck. The truck have 113,000 miles on it now,the problem start at about 10,000 miles. What is your opinion.