axle and drive shaft joints

[NYMustang50]

Got a 94 Ford Bronco.. Snowed today and had to go out so went out side locked up hubs and started to pull away I didnt have the truck in 4wd yet all I did was lock the hubs so if I needed it on my way out it would be there I wouldnt have to get out again.. So I'm driving and I hear this high pitch squeal whine noise and stop it goes away.. Put it in 4wd start driving its still there. Take it out of 4wd still there... So I pull over unlock the hubs and drive away and its not there so it leaves me to the conclusion its the drive shaft joints and/or axle joints. Now.. I have full compatibility of doing the job but I never done it before so I dont know what I'm doing I'm mechanically inclined due to the fact I'm a mechanic my self I just never done them.. I worked in a dealership when this would happen on my lift we warranted it so instead of fixing it by just replacing the joints we'd get new a whole new drive shaft or whole new axle's. So never had any experience with doing them. So if someone can point me in the right direction with how or what I'm suppose to do that would be great.