Grinding, Clicking, sound while accelerating

So, I started hearing this clicking (almost like a grinding sound) when accelerating hard from a stop. It would go away when I got up to speed. It's slowly gotten worse, but still is only from a stop or slow roll. Never at high speed. It doesn't feel like gears slipping or anything like that, no loss of power that I can notice.

This is a 2007 Limited 4x4 Crewmax.

I had Toyota look at it last month and they said it was my driveshaft going out and would be around $1,500.

Does that sound right to anyone else? Anything I can check myself? Any help or ideas would be greatly appreciated.

 

It's possible it could be a U-joint. If it is, find a driveshaft shop near you. It cost me $80 to have them install my 3 U-joints and Center support that I supplied, and price included balance. It sounds like it is only there under a load.

 

My first guess would be u-joint. They will tick when starting to go bad....then it turns into a grind. I am not sure why they would want to replace the entire shaft vs. replacing U joints. Perhaps the splines area of the driveshaft is too worn?