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when they fail, they shred. and you will know it with warning. Unless you race it.
The only ones I've had fail while driving were in a BMW...rumble slap slap rumble...not going anywhere. TOW pls.
scroll to see pics of fails
as far as yours, depends on oil leakage onto it, how aggressively you drive, visual inspection... (dry rot). Do you do a lot of driving in the mts, with lots of hiSpeed downshifting...5th to 4th and back?. That's why Volvo replaced the steel UJoint, as a damper to the clutching shift on the drivetrain, as opposed to the old OD internal damper in the M46.
if you do replace yourself pay close attention to orientation and to how those 6 bolts go.
Take pictures before and as you take it apart.
https://www.google.com/search?q=Guibo&tbm=isch&tbo=u&source=univ&sa=X&ved=0ahUKEwii_sz_7sjLAhULqh4KHUx8C_cQsAQIOw&biw=1280&bih=678#tbm=isch&q=Guibo&chips=q:guibo,g_1:bmw+2002
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