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You can still drive it. With that mileage I wouldn't expect the driveshaft to be worn to the point I'd be concerned about continuing to drive it. I would just stay on top of your Service Advisor at the dealership as I strongly believe in the "out of sight, out of mind" mantra when it comes to getting your recalls done. If they don't have the part in stock they will order it and as long as it's not on national back order, it should only take a week to get.
As for the loaner, this is completely up to the dealership however I would certainly ask for one given your situation. You should really start by calling up the dealership and just having a conversation with your Service Advisor as each dealership treats loaners differently. Back in CA I always got a loaner but now here in TX I don't unless I bought the vehicle from them.
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