If you have something leaking it is not a U Joint but the rear seal, if its bad and leaking a lot then it will need replaced.
If you have a vibration from there it could be a U Joint bad , mine ( rear one) went at 52000 or so I think it was. Caused a really bad vibe in time.
Lift would not of caused this some may say it put extra stress on the joint but we can not lift them enough to really put that much extra on them in any way IMHO
Jack it up and check the rear joints really good, mine still felt tight....cause they were,

they had no lube left and were basically frozen solid