U joint or pinion...can't really tell but it's not that important at this point TO tell. Pull it down and take a look (takes about 30 minutes to get it down).
I can't tell if it is damaged or not. My right ear is stopped up with an infection.
But, if you are running it on the lift without the rear end supported with straps, the swing arm will be at such an angle that it might be whacking the side of the swing arm with every revolution, damaging the joint. Should always support the swing arm to keep the angle at about the same angle as when riding down the road when running the rear tire. Without support, it will sound like the u-joint is going.
Hay

Jimmyt
Should be fine as long as the shocks are attached. Maximum extension on the shocks is well within what the u-joint can take. It's when you have the swing arm hanging with no shocks that you put the joint in a bind.