A 2 joint driveshaft is designed to OPERATE with the pinion relatively parallel to the transmission, regardless of the application.

If a car (or truck) is "jacked up" beyond the operating range of the U-joints, you must drop the transmission tailhousing a few degrees, then re-set the pinion angle using the same procedure I posted earlier in this thread.

If this is not possible, you must point the pinion directly toward the transmission and install a CV joint off the transmission. This is why 4 x 4 trucks run CV joints on the transfer case end of their short, steep front driveshafts.