This is correct if you are not phasing the joints. It's possible to phase the joints to cancel each other. Land Rover did this on the Defender and the Discovery series I. It however was not 100% ideal and they eventually went double Cardan at the T-Case.Per the photos there are single cardan u-joints on both ends of the front and rear drive shafts. For this to run smoothly the angle of the joints at the pinion and the transfer case must match in order to cancel out the oscillation. If the angles do not match then vibrations are inevitable at certain speeds. Dialing in this angle on the rear shaft using adjustable control arms (Metalcloak potentially) should be relatively straight forward. But on the front this is likely impossible because of the need to maintain an already minimal caster angle.
This is the direction I was trying to go. But several extremely big name drivers shaft shops here in the US pointed out that the Double Cardan joints in the correct size could not handle the angle. It would work on a part time vehicle but not a full time 4wd. The Rzeppa joint has a higher published angle limit than the Double Cardan. It's just that we are running at max of what the boot can tolerate, not what the joint can tolerate.A front shaft with a Rzeppa at the pinion and a double cardan u-joint at the transfer case is the type mostly likely to run without vibration while eliminating the problem Rzeppa at the transfer case. This type of shaft is angle agnostic. I have yet to see this configuration implemented on the Grenadier. I have a long standing relationship with a custom driveshaft builder in my local area and might have to contact him about building a shaft of this type for the Grenadier.
Currently the best option is to reduce your caster to the minimum you can and still be comfortable with the driving characteristics. This will likely spare your front drive shaft, at least for a long time anyways. People running long distances at high speeds will be more at risk of losing a boot due to heat.
Cross your fingers that a solution to mod or replace your axle housing comes along as that's debatably the only real solution to save the front drive shaft and make these things drive correctly at the same time.