did you pull the inner shaft and inspect it? If it just came out a small amount (like 1/4" or so), you should be able to just reseat it.
To be safe tho, you should pull it completely, make sure the bearing isn't fawked and also check that the splines aren't damaged.
To be REAL safe, go ahead and replace that inner as well, and use the "abused" one as a spare ...