That look normal to me. However, it does look like it need lubrication. When I got my truck I couldn't make the slip joint move. Had to heat it up with a heat gun to seperate it. Once I had seperated it, disassembled the yoke (to remove the seal), and cleaned everything then I lubed it up installed a new spline seal then reassembled it.
If you do take it apart, to assemble it you install the spline seal onto the male spline. Once the female spline (yoke) is installed then you assemble the seal (Splicer/Dana D3G) onto the yoke.
Also see attachment.
Spline seal:
https://www.danaaftermarket.com/driv...&partType=PART