UJ's travel in a elliptical rotation when they are not running straight. In a single cardon type shaft (only two UJ's) the angles between the two joints must remain within 5 degrees, otherwise the ellipse at the front joint is different enough from the ellipse at the rear joint to cause vibes.
When you lift a truck say a D2, the pinion shaft (at the diff) points up more towards the front UJ at the t case, the angle of the T Case shaft remains the same, the difference between the two shafts is now more than 5 degrees and you will get vibes and shortened UJ life. To fix this you would put a Double cardon shaft in place with the CV joint at the T Case. The CV (or double cardon) joint at the front of the driveshaft cancels the Eliptical rotation within the joint (so to speak) and since the pinion shaft is pointing at the T Case joint the rear UJ is now running straight so no vibes.
In the case of lifting a D1 or a Defender the trailing arms should be made longer so the pinion can be turned down and keep the joints within the five degrees rule.