Well the stealership will not rebuild it, they will replace it for $800, well, $1200 for you.
Any shop that does u-joints can do this. That includes muffler shops.
You will need three u-joints and a centering ball kit.
The part numbers are listed on here somewhere, you can buy the parts at NAPA for around $60.
Somebody knows the part #'s and will post them I am sure.
Otherwise a rebuilt driveshaft from www.roverlandparts.com is $450, www.4xshaft.com is $350.

 

Thanks. Also, what is this flex joint or something I read on another of these posts? I looked at links from that thread but didn't get a good grasp on what this is. Does this connect to the T-case, or something? Is this recommended for the front or rear driveshaft?I would like to take care of these at the same time. I will continue to scour current and older threads, but I would like to make this thing as reliable as possible and head things off before they become broken problems. Someone made mention earlier in this thread that some things can be replaced and made tougher/more reliable than originally. That is exactly what I'm looking for.

 

The roto flex is a piece of rubber that is used in place of a u-joint where the rear driveshaft mates with the rear differental. I dont know if it is used because they think that that u-joint gets the most dirt/mud/water because of its location (low to the ground and facing forward for the full glory of all the debris) or what.
There is a kit that you can buy that replaces the roto flex, it is a new driveshaft with two u-joints and a new flange that goes onto therear diff. My truck has it, it was there when I bought it. I would not go back.
www.atlanticbritish.com has this kit.
http://www.roverparts.com/Parts/TVF100010G.cfm
AB has a converstion kit but I cannot find it. The kit includes everything that you would need to get rid of the rotflex and go with u-joints on the rear driveshaft.