[Richard]

For a two piece shaft there are three ujoints, so in theory one needs to go away so the other two can cancel each other out. You can set the carrier bearing up so the trans ujoint is 0 degrees (+ or - 1) then go about setting pinion operating angle so it matches center ujoint operating angle.

Other option is to raise or lower carrier to get center ujoint to match trans ujoint. In this case pinion would be turned so it's operating angle is 0 degress.
All operating angles can be + or - 1 degree to actual needed and operate fine in most cases. This second option is better for the lower vehicles.

For the post about operating angles exceeding 3 degrees. Have had two 4x4's with shafts that had twice that and were daily drivers. My current 72 will be around 6 degrees on rear shaft at ride height and axle drops about 8"-10" from there. 650 hp, 5.13 gears and 37" tires. Have no worries. Have you seen the 1000 hp rock bouncers?