The drive shaft has a slip yoke because it needs to move rearward as the suspension drops.

A steering column does not have the problem but it needs to slip a little during installation and a tiny bit with chassis flex.
Cars with rubber isolated K frames or body on frame assemblies need slip in the steering shaft to allow for body flex.

We are brothers and sisters doing time on the planet for better or worse. I'll take the better, if you don't mind.
- Stu Harmon