the double cardon joint is about a third of the way down from the transfer case, you only have one.
It is easiest to take the prop off as the skid plate makes it mega tricky but it can be done.
If your DC is greasable get in there but you may need a needle adaptor. If it is stock it will be non greasable but you can grease the centre pin by carefully sticking a needle adaptor under the rubber cover and giving it a good blast
good luck and make sure you support the transmission if you drop the skid plate