Mine didn't "fail" but was wobbling pretty bad around 150,000... Dealer wanted $1100 to "fix" it... I pulled it and took it to a local driveshaft shop... They replaced all three U-Joints with grease-able units (Spicer, I believe). The CV pin was toast so they had to replace it, again with a grease-able unit. Balanced the shaft, painted it... $385 out the door... Drive shaft was in the shop for a week just because I couldn't pick it up as soon as they were finished...
I also replaced the T-40 round head bolts on the axle end with grade 8 cap-head hex bolts and replaced the transfer case end with new grade 8 bolts. Trust me, if you wrench on your own vehicle, you'll want to get rid of those Torx bolts on the axle end...
All up just shy of $400 and a couple hours of work.