IMO, not only suspension action affects the relative positions of the front/rear diffs and the transfer box. Even if considered to be a small amount, under acceleration or more so under heavy power load, such as a steep hill climb, the rear axle (for example) will be trying to compress all the rubber/nylon joints between it and the chassis. This will (in my example) effectively try to shorten the rear prop by a mm or two, hence the need for the slip joint to prevent a direct load on the prop UJs and the diff/transfer box bearings.