Joseph was born in 1762. Joseph Underwood ... He passed away about 1813.
Sources
"Delaware Vital Records, 1650-1974," database with images, FamilySearch (https://www.familysearch.org/ark:/61903/1:1:QK9R-DYQD : 16 April 2022), Joseph Underwood, 1762; citing Birth, Delaware, British Colonial America, Delaware Public Archives, Dover; FHL microfilm .
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DNA Connections
It may be possible to confirm family relationships with Joseph by comparing test results with other carriers of his Y-chromosome or his mother's mitochondrial DNA.
Y-chromosome DNA test-takers in his direct paternal line on WikiTree: