Haven't had to change mine out yet, but when I had it all apart, they looked like normal "1310" style u joints or wheel joints as they would be called in that position. I wouldn't go to the dealer for them. Any parts store should carry them. Napa 365 or spicer 5-260x should work. Same as I have on hand for my old gm trucks. Cheers.
I couldn't find any to match the old ones at any auto parts store. I bought some from torque king. I ended up having to take the caps off of him and grind the ends down a little bit to get them to fit.
Col Remo, Mahindra happens to be very secretive about their Roxor parts specs. Kind of strange to me and I have worked in automotive parts for years previously.