Recently had a similar issue with my '05 Yukon XL/SLT. Seems that I have an Aluminum shaft. Front U was very worn and rear less so. Local mechanic refereed me to a specialty shop rather than trying to remove the worn joint from the AL housing and screwing it up. Shop was All-American Enterprise, Baycliff, TX. Good work, fast, reasonable. Replaced worn joints with Spicer parts.
Also seems that parts removed were not factory. At 194,000 miles I'm curious if this is a normal wear pattern or if I might have some other issue.
Either way things are good for now. Just added 700+ miles to the odometer. No vibrations and no clunky noises when shifting between D and R.