The newer rag joints have a pin feature that even if the rag tears away, won't leave you without steering.
Normally, a rag joint will begin to take on a frayed appearance before it needs replacing. I've found that a trip to the junkyard can save you a few bucks if you are so inclined. Most bad joints that I've seen have been on 4 WD vehicles with over-sized tires. If your C-10 joint isn't tattered and frayed, I'd say you're good to go.
Personally, would be more concerned with the brake system. Just my $.02.
