You got some good info with that much slack at the pinion I would have to remove the diff rear cover for a look. Removal of the drive shaft and cover for inspection is not difficult but may require a good trained experienced eye to locate the issue.
I associate slip yoke issues with a bump once the truck starts to roll the yoke binds up and pops.
Your issue is a common issue I googled it lots of info I was going to recommend GM #12345879 Special Lubrication on the slip yoke but ran across this TSB.
I googled "GM #12345879 Special Lubrication". Its expensive for a one time use and its eliminated some of those issues BUT they always came back in time. The price shocked me but the can has done a many slip yoke for me. I would guess I have lubed 50 are more with one can. I can not recommend any one fix I would be looking at the differential worn carrier/spider gear set ups are not that uncommon on a GM... Even if it were a U-joint issue it would not be a guess you would know a bad joint once the shaft was out.
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