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The u joints don't know the difference in angles from left to right and from up and down, the rear U joint and tranny yokes will know when overly misaligned

stressed I would never have a upside down V angle (The pinion pointed up and the drivesahft pointed down) between the pinion angle and driveshaft angles when sitting still, NEVER

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Since you are correct in stating the u-joint doesn't know left/right/up/down - here's a sloppy chart to show some scenarios. All are viewed from side and referenced to ground.

Top one is engine level, u-joint 4*^,(driveshaft 4* dn) u-joint 4*v, pinion level.
Next is engine 2* dn, u-joints 2*^,(driveshaft 4*dn) u-joint 2*v, pinion 2*up.
Next is engine level, u-joints 2*v, (driveshaft 4* up) u-joint 2*^, pinion level.
Bottom is engine 2* dn, u-joints 4*v, (driveshaft 4* up) u-joint 4*^, pinion 2*up.

All scenarios leave the engine/trans and the pinion centerline parallel . Top 2 are typical street car - bottom 2 are more chassis/big tire oriented.

And again - these are UNDER LOAD scenarios - how much more the pinion needs to start out pointed down from these figures vary by suspension type - could be anywhere from 1-7*.

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Why would anyone, epscially a drag or road racer want to set thier rear ends up like the bottom two are I would lower the pinion angle down so it had at least two or more degrees difference(than the drivshaft angles) at static and maybe move it down more after trying that, more is better sometimes to start with, epsecailly on leaf spring cars The pinion shaft will always try rotate up under acceleraton, correct