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As part of the research, this article might help:https://www.eurobricks.com/forum/index.php?/forums/topic/41156-heavy-duty-drive-shaft-u-joints/
Back when I was a kid I faced the same problem when I built this 4x4 Landrover. I ended up making a front axle with the 2x2 flat swivels with a standard universal joint going through. Very bulky and a huge offset with limited steering lock.