If it only shakes when you are driveing down the road there are a few things to check. Frist check your struts. Make sure all the bolts are there and tight and in good condition. check your brake rotors. If they are warped it will make your car shake when you brake. Make sure the lug nuts on your wheels are all tight. check the balance of your tire. check your ball joints
Don't bother replacing the joints, replace the axles. The cost isn't much different and your getting new joints and boots, not to mention less time to do it. Check for weak motor mounts on this van, they contibute to axles popping out if they are too weak. Alignment of where the motor sets is critical.
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