When lubing the spider joints (aka universal joints), of aft & forward propeller shaft (aka drive shaft), continue pumping in new grease until it's seen flowing out. The old grease is seen coming out first, if spiders aren't dry. Then we're left with old and new grease that needs wiped out. If not wiped, it sling out as we drive, which is just fine. The buildup of grease that has slung out onto frame is a great clue of proper PM.
The slide yokes of the propeller shaft are grease a little different. Rather than go into the various techniques for doing this. I'll just state Toyota most recent advice on this. Pump in new grease until slide yoke begins to extend and stop pumping.
If we keep pump in grease the yoke keeps expanding, thus press on the transfer case and differential. It's import to grease with vehicle in a neutral stance. If vehicle raised with AHC, on jack stands or lift with wheels dangling. This extends slide yoke of propeller shaft(s). Then as we lower vehicle the pressure in slide yoke builds. This can be damaging if seals of slide yoke are in good condition and not worn out.
Seals are a double seal with outer lip pointed out and inner lip point in. That inner lip tightens as grease pump in pressing on it. This hydro locks in the air and grease inside cavity building pressure.
If seal are worn out from not lubing every 5 to 10K miles, the grease will pass easily. Then it doesn't matter if you pump grease all day long. Yoke will not extend much, nor build excessive pressure inside the side yoke. So not all bad, if seals are shot.
The bad, if seals are worn out. The slide yokes will need more frequent lubing. The clunk will come back very soon after lubing, as grease just keeps pumping out.
May 2005-Aug 2007. (PN may vary by year)
37305-60030 COVER SUB-ASSY, FRONT PROPELLER SHAFT SLIDING SHAFT DUST
37305-60030 COVER SUB-ASSY, REAR PROPELLER SHAFT SLIDING SHAFT DUST
If the seals are bad, it's very likely the splines of the slide yoke and propeller shaft are warn. So replacement of propeller shaft may be best course.
Personally I'd not worry about it. Unless a full restore project and the play in yoke is very apparent. Then I'd consider replacement.