There are several variants of DC style driveshafts discussed in multiple threads here on the forum and all of them suffer from vibration issues. The most promising one was double double cardan, meaning it had a double cardan on each end which is required given the pinion angle cannot be adjusted enough (caster would be reduced to zero or even made negative) to line up a single cardan joint on the pinion end. And even this double double shaft has vibration issues. There is a reason a CV style shaft is the OEM specification. The only true solution will be for Ineos to raise the angle of the differential output in relation to the king ping steering axis. This would preserve the caster or even improve it while reducing the angle of the CV joints on the front shaft. Of course one could cut off the ends of the axle, rotate them and weld them back on but that will be a bridge too far for all but a very small fraction of Grenadier owners.