Thank you Thalasso,
I spoke to one of the local marina service managers who services Volvo. He agreed the U joints can be changed as long as I mark all parts and assemble without mix ups to ensure to keep proper balance. I asked about if it was necessary to remove the assembly from the drive to replace u joints. He said to get to both of them I would need to remove the pinion bearing carrier. He stated I do not need to remove the assembly from the carrier, which would require a new pretension sleeve ( requires rolling torque to be set ). Removal would also require to measure and fit new shims between the carrier and upper gear housing, which I do not want to get involved with.
So according to my internet searches I need to purchase 2 u joints part#3860232, one "O"ring for the carrier and I could reuse the shims between the carrier and gear housing as long as they do not get damaged during disassembly. I'll pull the bearing carrier leaving the assembly intact, to make it easier to work on a bench. A friend of mine has an arbor press to help the install to hopefully go smooth.