Extreme driveline angles are less of a problem at the slower speeds that you encounter offroad flexing the suspension. When flexing your biggest concern is keeping the angles within the operating range of the u-joints. On pavement you want to minimize angles to avoid vibrations at highway speeds. As I said above a 3" lift on the Xterra doesn't change the angle enough to matter. If you're getting full flex out of revolvers at 60mph driveline vibrations are the least of your worries.