Thought the center bearing.
Would change the discs also.
But still chancing the non rebuildable and non serviceable center u joint.
For the 500, I would say to change it all.

You should be fine to change in your driveway.
As long as you have a hard floor to put jack stands on.
Changing a control arm and need to put under load before torquing down the bolts, but for the flex discs, you will be fine with the car on jack stands, not much to it.

I just went a different route when I did mine.
Now completely serviceable, lighter and no flex discs or carrier bearing.