Rodeo Driveshaft Clunk

Our '02 Rodeo V6 auto has had an occasional clunk when we start moving after stopping at a red light, or anywhere else. Not ever time but maybe 4 out of

1. It has done this since new and now has 20K. I have been told that it is the driveshaft binding a bit under brakes and then releasing and "clunkin" into the transmission. Been told that lubricating the driveshaft where it goes into the trans will cure it.

Any one else have this problem or the answer.

Thanks,