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Really the only way to guarantee there are no vibes is if the operating angle on each joint is only a couple degrees. With a lifted K5 that is only possible with a CV shaft.
For a CV style drive shaft, the transfer case output and pinion should point at each other.
For a conventional style drive shaft, the transfer case output and pinion should be parallel.
Recheck the angles through the joints. Changing one changes the other. 6* is not too bad. It might not be perfect, but should definitely be usable. Double check those U-joints and the pinion nut. Sometimes the change in angle reveals a U-joint that is already worn.