re: My '07 Toyota Tacoma needs a new drive shaft.

one of the more simpler fixes...

two u joint straps(four bolts) at the rear differential...and the front of the shaft usually has a yolk that slips into the rear of the transfer case...if not a yolk then there will be two more u joint straps(four more bolts)

usually there is a distinct spline pattern on the output shaft of the transfer case
(look inside the seal) that will only allow you to slide the shaft in one specific way (look inside the drive shaft yolk), and you will be able to see what I'm talking about...

That's a good question. I haven't taken this truck offroad and have not once used the 4wd.

Whatever is wrong, I didn't do it.

The Avalon needed its driveshaft, but it was part of a recall I believe. They fixed it at the dealership. After that I didn't have any issues.

So your driveshafts just fell out and your transfer case broke in two while you were driving down the road?

2nd Gen Tacomas (05-2015) are notorious for driveline issues to include vibration issues at both low and high rpm.
They have a two piece driveshaft with a carrier bearing in the middle. I have the low speed vibration and just had all u joints replaced as well as a new carrier bearing installed. Still have low speed shudder from take off. No lift and just up one size from stock tires.
Vibration has been linked to weak rear leafs, poorly designed carrier bearing set up , transmission mounts, front drive cv joint bearing, you name it. The truth is Toyota screwed the pooch royally with this driveline design.
If you notice when the new Tacoma was introduced at the Detroit auto show one of the first things the speaker said was they had fixed the driveline vibration issues.
I'll frickin believe it when I see it Toyota.
If not for the driveline vibration issues I would keep this truck indefinitely. As it is I will probably be looking at a new Colorado/Canyon in a yr or so.