beginner help

[family-man]

Wobbly steering column fix etc.
shake: loose or broken motor mounts/ loose or broken transmission mount/bad u-joint at transfer case/ bad u-joint at rear axle at the pinion/loose u-bolt straps at pinion/ broken spring center pin/loose spring u-bolts...

whine: low gear oil/bad bearing somewhere in the rear axle/no further ideas

i dont think its the motor mounts bc its extremely smooth at idle. at good up to about 15 or so. how do i check the u joints? im mechanically inclined just new to 4wd systems and dont know much bout drive shafts and u joints