unless it's actually snapped, it should drive. It is likely just worn out, maybe missing some needle bearings. It most likely just makes a noise. It should be replaced as soon as possible, especially if it creates vibrations. I've driven with one bad often, once it was so worn that it created terrible vibrations, which eventually snapped my yoke and tossed the DS onto the highway. When I took it apart, all the needles were gone, and the shafts on the joint were chewed up to about half the original size. (Brute Force joint, avoid them)
You will most likely be able to drive home with a little squeek. But if you are worried, replace it before driving, or go FWD. as said, blocks of wood, a hammer, and a socket. You can also use a big C clamp sockets. or a press, if you like doing things proper.