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Not sure where you are but if you are close to the SFV, take it to RAMJET Rear Ends or Hoopers Rear Ends in Sun Valley (near 5/170 split) and let them take it for a test drive. They will tell you if its a gear setup issue or driveline. They have done several lift installations too. From there, they can recommend you to one of the local driveline companies in your area, if needed. IMHO there is no need to worry about the slip yoke with 2.5" lift. Im running 4" and with full suspension hang theres no issues with driveline length. Only thing I did was drop the back of the transfer case down 1" to help with the U-joint vibe on initial takeoff. Just trying to save you some time and $$ as custom drivelines. xfer case rebuilds, things you are talking about are somewhat expensive. Now if you are going to turn it into a crawler then have at it.