stuie84 wrote:
I know that driveshaft U joints require some angle applied to them so that the needle bearings have a chance to roll and lubricate as the shaft spins.
This is very sound engineering practice.
With fairly short IRS suspension half shafts, and the suspension in pretty constant up and down motion, you need have no fear about the needle rollers rocking sufficiently for lubrication and even wear.
Braking, acceleration and cornering ( not to mention the odd bump) will keep those needle bearings quite happy even with the half shafts set dead straight at normal ride height.
Its more of a problem with the main driveshaft, but as already mentioned above, you can build in a bit of deliberate angularity, especially if the driveshaft is fairly short.