Welcome ZR!
To inspect your universal joints, you'll need to set the park brake (make sure it works before getting under the truck) - may want to chock the wheels as well...
With the transmission in neutral (to releive the stress off the drive shaft) check for play in the universal joints (in up and down, side to side, and rotation) - there should be no play. Look at each end of the universal joints where they go into the caps, and look for signs of lube leaking out, or rust coming out - either one is a sign of a bad joint.
For the carrier bearing - lift up and down on it - it should have no play - there will be slight flexing of the rubber it's mounted in.
On to the brake issues:
The ABS light that's on - you may be able to get it scanned at an autozone or advance auto for free - that will tell you which sensor is bad (if that is the problem)
The other light - is it a parking brake light, or brake warning light (that happens to come on when the park brake is applied-I can't remember on those trucks)?