my U-joints are squeaking, there dose not seem to be any play or slop in them when I check them, dose this sqeaking mean they need replaced, there is no grease nipple otherwise i would just give them a shot of grease

I have never really heard U joints squeak before my past experience has them make more of a grinding noise

 

if they are squeaking its a sure sign they are dry i would change them right away if it was my truck i had the same thing happen to me with a car.

 

Replace them with ones with grease fittings.