rookie question here. I just changed my u joints on a manual

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rookie question here.

I just changed my u joints on a manual transmission toyota tacoma. Before I put the driveshaft back on the truck, I noticed that some of the joints were a bit stiff, but I thought nothing of it. Now I'm reading that maybe I needed to "loosen" the cups a bit with some hard hammer whacks.

I replace two u joints. I also gave them a nice grease purge. So far no problems -- the squeak I once had is gone.
Anyway, I am wondering now if my u joints are binding at all. I took the truck out for a highway drive. I touch the diff-side ujoints and they are just above ambient temperature. I touch the tranny-side u-joints and they are hot. Not scalding hot though -- I can keep my hand on them indefinitely. But hot none-the-less. It's not just the caps that are hot, really the entire yoke is warm.

So is this a u-joint problem or is this just heat-transfer from the tranny? If there is a problem with a u-joints, how long until I see problems? Am I just being a worrysome faggot, or do I actually have legitimate concerns?