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Not knowing what their basic charges are or being familiar with cost of doing business in your area I can't/won't say if that's good or bad as I don't know.
If you have ever dropped a drive shaft or replaced a U joint on something you'll find the PA to be no worse than a passenger car, if you have no experience with it I'd opt to let them do it as long as they are reinstalling it as part of the same price it really does not seem out of line.
If you do drop the shaft yourself make absolutely sure you chock the front and rear of at least one (two would be better) tires even if you are on a level surface. You'll most likely find the park brake is mounted on the back of the transmission.
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John & Cathy R.
06 Pace Arrow 38L
Marquette, Michigan
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