When my Ujoint went, I got thumping in my pegs (and grinding, limping home).
When my wheel bearing went out (the infamous single row in back, later changed to double row), it was grinding, squawking, squealing. I got about 20 miles to a shop, discovering the least amount of noise was about 32mph rolling along.
Short of removal and inspection, if home, you can take the bike for a neighborhood spin, and do some very gentle throttle blip and releases in first gear. All shaft bikes necessarily have some play in the drive train, but a failing Ujoint should be felt with peg thumps and sounds and maybe some grinding under load.
As soon as I replaced it, I got another spare. Same deal with wheel bearings, brake pads, oil filters and and a battery with acid on the side.
A lot of guys ordering a new Ujoint also get a new boot, on the theory that new ones are easier to get back on than old ones. Maybe so, they're all a bitch to get back on. And don't poke a hole in it with a tool trying to get it on, that lets water in and down the driveline. A small hole can be repaired with liquid electrical tape (don't ask how I know). The trick with the boot, and shaft is having the swingarm about perfectly level when working.
Here's a nice link on the Ujoint. Click on each picture for more detail.
https://web.archive.org/web/20160523032210/http://www.rattlebars.com/mtz/ujoint.html