Accept it or not the answer is full spline engagement is where it needs to be - anything less is going to eventually cause trouble; it’s a gamble on how long it will take before excessive slop or failure will occur.
Just a thought to ponder - you can steer your truck at 80 mph with your feet but it ain’t a good idea; apply that to wanting to get away with the minimum in these situations.
As for the lifting the front tire goes - I think it’s fair to ask for a video of such a claim… there are a lot of folks here with seriously potent modified engines along with really low gears and locking differentials that don’t make such a claim - gonna need some pics of this in action.