Checking the housing bearing isn't possible without taking it apart, other than checking for looseness in the wheel.
It's not a very common problem, but it does happen. On the non-paralever model it's extremely rare.
Checking the u-joint on the front is a hassle, not worth getting in there to do. Just spin the wheel slowly and listen/feel for roughness - in both directions. You can squeeze the rubber boot at the front and feel the shaft rotating. The rotating bumps are the u-joint. If it starts getting lumpy/rough there is a problem coming. Get a spare driveshaft and carry it from then on, or replace if you are heading off into the boonies. It can fail suddenly. Consider the paralever driveshaft a standard maintenance replacement item - 30-60,000 miles.
The non-paralever driveshaft will probably never fail.
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