You don't need to remove the rear end and drive shaft to inspect the universal joint.
Remove the rear brake assembly to reveal the swingarm boot and simply pull back the boot to observe the universal.
The rear wheel (swingarm) needs to be in a good alignment with the frame to allow turning the universal without doing any damage to the universal.
it's easy enough to determine what's with the universal if you know what to look for and how to look for "it".
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Hmmm... How will visually inspecting it be better then manually feeling it? Could look alright but still have a little play in it. ???