There goes the knowledge.
Rovers pinion NEVER, ever, points perfectly (we're talking coil-sprung beam axle trucks). Rovers' driveline is canted back, about 1.5-2 degrees, hence the rear driveshaft that has one "poor man's CV" joint as Rotoflex and another regular U-joint.
Rover front pinion is never, ever, in line with the axis of the driveline. A Rover aficionado would know that the front axle runs on radius arms, so the more of spring lift, the worse is the situation. The front pinion angle can never be made right, with any lift; caster-correcting radius arms or bushings make the pinion closer to parallel with the front transfer case output, but at the expense of moving pinion down. The result of that is both U-joints (or CV/U-joint in a D2) working near the limit of their angle.
For whatever it's worth, this situation is exactly the same for G-Wagen and 80-series Land Cruiser, for they simply copied Rover suspension.