2012 Toyota Camry Hybrid update on steering noise

My car make steering clunk or click when turn to right or left /but more in right /.
I took to dealer and drove it he said it is intermediate shaft noise or u joint.
He said the solution is to replace it no lubrication can be done.
My question is does intermediate shaft contain within it the u joint I mean when I replace the shaft I already replace the u joint.
My 2nd question is it serious if I don't replace as it cost around 500 dollars where my car is not under warenty