Replace the rear cross joint and straps, maybe $15-30 bucks for a spicer. All you need is small set of wrenches, couple of sockets and a big C clamp.
Unbolt the straps at the back of the driveshaft, using ice pick or similar get the spring clips out of the ends of the cross joint.
Take two sockets, one smaller than the cross joint cap and one larger, put them on the drive shaft and put the C clamp on, tighten the C clamp and the smaller socket will push the cross joint out into the larger socket.
Put the new cross joint in using the reverse and use new straps and bolts. Done.
30 minute job once you are under there with the jeep on JACKSTANDS.
Me, I park mine on a slight bank along the driveway, nose up, which gives me tons of room underneath but I also put 2 big blocks behind the back tires and leave it in 4 wheel drive with the tranny in 1st.