I dont know on the wrangler how they connect to the driveshaft and/or tranny. But on my Cherokee (from what i have seen of my freinds wrangler, they look to connect basically the same) there is no tightening a U-Joint. On almost all u-joint, they dont just "tighten". The only way that could happen is if u-bolts are used to connect it to the differential. The u-joints are a wearing item on cars, and will eventually go bad. You will probably have to actually replace them. With a vice, a socket or two, needle nose pliers and some grease you should be able to do it yourself.
Also, if your not in a hurry to replace them, try regreasing them. I have no idea how long it has been since your have been greased. Stick the grease gun on the nipple and give it a pump. See if that helps the driveability any.
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