The only real fix would be a revised front axle design to lift the pinion and rotate the steering knuckles aft to add more caster at the same time (assuming front axle lubrication is not a limitation). This would have to happen in conjunction with a lowering of the entire engine/transmission/transfer case assembly in the chassis to further decrease angles across the drivetrain. This of course, would present a whole host of packaging, clearance and component changes. Just lowering the tail end of the drivetrain assembly by dropping the transfer case cross member would pivot the drivetrain back which would actually increase the angle at the front transfer case output flange slightly.
These would be wholesale design changes to the vehicles current layout and would only happen if IA encountered a relatively high number of failures (on stock vehicles) or heaven forbid, fatalities or injures, as a result of failures at speed and was forced to issue a recall. The design is what it is for the time being and the aftermarket should be able to produce some solutions which might help but at best they would be classified “Experimental” fixes and would not be covered by IA and could be used as an excuse to avoid repairs.
Sounds like IA is covering a few driveshaft failures for now and one reason could be because warranty claims are not mentioning the vehicles in question have suspension lifts. However, I doubt IA is that naive and may be taking care of customers as they continue to monitor the situation and figure out a path forward. It will be interesting to see if any changes start showing up on newer models. If they do introduce changes that would be admitting they got the design wrong initially but let’s see how it plays out.