Most of the driveshafts on cars with a few miles on will have some movement in the joints, and will make a noise when you pull them about. I just popped out and had a tug of the shafts on our 2008 with 170,000 miles on it, there is far more movement in them than yours.
The reason you can hear and feel bad suspension joints so well is because you have the weight of the car pulling and pushing on them when switching from compression to tension, it gives them a real whack. Steering joints make less noise, but they still have the cornering forces acting on them.