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According to Tom Woods custom drive shafts ( http://www.customdriveshafts.com/ ) when using a regular 2 u-joint shaft, the angles at each u-joint should be the same.
The rear end should only be rotated to align with the drive shaft when a CV shaft is used.
I have 4" of lift with 33 x 10.5 BFG's. While out rock crawling the first time, I rubbed really hard. I installed cut out fender flares and STILL rubbed on some of the really hard core stuff. I ended up extending the bump stops, and that resolved it.