well, i just typed out a nice reply explaining everythign i have learned about U joints and replacement and everything, but then i had some internet error, and lost it... so this will be an abridged version. Damn school internet
1) U-joints... Get new ones, I always get the brute force joints from autozone, no more htan 30 each and they are the heavy duty non greaeable version... good strong part... definately worth swapping in
2) replace them when they need to be replaces, or you may end up tearing your rear differentail yoke apart, like I did, mind you I was driving hard, but still, wasnt fun. A week with my jeep off the road and twice what I would have paid for just a joint, and I was back on the road, but still... do it when you need to.
3) to check if you need joints.. get under the car and try and turn the driveshafts a bit, not much, just enough to see if there is play in any of the joints. If there is play, then replace them, (if there is just a little play you CAN hold off a little while if you dont plan on wheeling alot/hard or driving hard (aka, beating on the joints alot)
4) when putting them in, allign the caps where you need them, and use sockets and a c-clamp or vise to push them in, hammering them in works, but isnt the best way at all. When taking the old one out... do it however you see fit, but take caution not to bend the metal around the caps on the driveshaft itself. If you do it can make your life hell when trying to get they new caps in. Been there done that... no fun
In all, use common sense, if you check them and they seem real bad, or have alot of play, dont drive much if any and change out hte parts before something else breaks or you snap your current joint and leave your driveshaft in the middle of hte road.