
This is a picture of a Toyota u-joint. There's no possible way to stretch a joint... I've seen them twist or break due to excessive horsepower, torque or driveline angles. Your GX doesn't have enough power to do this...
See the 1350 joint on the right? ... I run this on my 650HP/700lbs torque Hemi car that can twist the rear axle like a pretzel.
U-joints allows for the driveline angle and couples the drive shaft to the yokes at each end.

Above are two different style drive shafts, the lower one is probably closer to the one on your GX... (ignore the double cardan design).
If you look at the lower drive shaft, on the far left, you'll see a polished shaft... that's called a slip-yoke. This part slips inside the transfer case and into the output shaft splines. The splines are also machined inside the slip-yoke.... when this is all mated up the drive shaft turns and slips in and out as your rear suspension goes up and down.
Look at the drive shaft on top and you'll notice... 1) the slip-yoke at the far left is eliminated. 2) the "slip" is built into the main part of the shaft on the right. 3) the main part of the shaft is longer and allows for better geometry. This is a more robust design for a 4x4... however, would also require the transfer case output housing and output shaft be completely redesigned. It is very expensive and probably not available for a GX from the aftermarket.
From what I've read on this site, Lexus has temporarily fixed the weak link by coating the slip-yoke with Teflon. You may want to have Lexus install the new shaft on your GX.
I doubt hauling 650 pounds made your cluck worse... this may be just a coincidence.