I talked about this with James recently since I am planning on putting a yota rearend in my ranger.
From looking online,
www.partsamerica.com, they show that the rear universal joint for my 1996 Extended Cab is the same part number as the universal for an 84-95 yota. Let me know if you try this and if the parts actually interchange. I am NOT 100% sure that it is a direct bolt up, this is based strictly upon the part numbers.