I did this many years ago (40 to be precise) on my Triumph Spitfire MK III that had a vibration coming from the driveshaft.
I simply held a piece of chalk to the (slowly!) spinning drivershaft, with up the car on stands, engine running in gear. Holding the chalk closer and closer and closer until it touched the driveshaft revealed where it was slightly un-centered. By shimming the U-joint circlips I was able to get it centered and eliminate the vibration.
With the Spitfire it could be done from inside the cabin. With the Pagoda you would be lying underneath the car, unless you can make a contraption to remotely raise the chalk/marker up to the spinning shaft. You would do this at the attachment points, not in the center or another area of the shaft.
(Of course balancing the shaft itself is another issue, that's probably best done by a specialized shop that can attach weights in the right spots.)
Coincidentally just yesterday I replaced a U-joint on my son's 240Z. The fit inside the yolks is so precise and tight that I think the design is that there is almost no way it is not 'automatically' centered once the U-joint is installed. I don't know how that is with our Pagoda, i.e. if the shaft is out of alignment perhaps there is some other root cause.