yes easy fix and cheap also.order a new universal swing shaft. also get a bag of GX 47( I think) which is the pin that goes through the shaft. do you need a wheel nut too?GX66

look here for anything you may need.
http://www.toyhaus.com/ff4wdmt.html

BTW your truck has universal shafts in the front and plain dog bones in the rear. you can upgrade the rear and get the shafts for a 4 corners. Or just use GX15 which goes with the dog bone.