You have ujoints in your driveshafts, and in your front axle shafts.
If there is any rotational play, I'd consider it worn enough to replace it.
What you're describing though, sounds more like a wheel bearing to me. Ujoints generally sound pulse like.
Jack up the front end and support it by the axle. Spin the tire and look for play in the ujoint inside the knuckle right behind the brakes. If there's play it's bad. Then, looking towards the wheel from the side of the Jeep, grab the tire and try to tip it up and down. If it wiggles, it's probably your wheel bearing. Could be a ball joint, but the sound your describing would lead me to believe otherwise.