PROPSHAFT UNIVERSAL JOINT WORN

I'm guessing it's the flexi disc (guibo) that's being referred to, in which case it's not a big job but not the easiest to get to unless you can get the car off the ground.
 
Do you notice any jerking on gear change? It can start quite subtle but would develop into a knock on clutch lift up on gear change.

I did mine on the 3 series, not too bad as mentioned. Plenty of online diy articles on it. Involves undoing one bolt with the car in gear, getting out, into neutral, spinning prop by hand, putting car back into gear etc. I would advise doing the prop Centre bearing at the same time.

I believe I did the gearbox linkage at the same time, you know, if you want to make a meal out of it!
 
There is a universal joint just back from the centre carrier bearing. As stated you should consider doing the Guibo [flex / artic] disc as well. Have a look at the gearbox mounts which are cheap and easy to do at the same time.

Elevate the car, drop the exhaust, heat shield, then loosen and pull out the entire tail shaft. Replace parts.

If you have not had the exhaust out for a while it may be challenging to undo the nuts near the outlet so might as well start soaking them in CRC now. Also have a can of silicon spray on hand to assist with removing the exhaust rubber suspension rubbers - spray then slip in a screw driver and carefully pry off.

Good luck with it all. :)
 
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