In Theory, a drive line is supposed to be as straight as is possible, both vertically and laterally. Generally vertical is set so that the driveshaft will be it's straightest when loaded (Torque Applied). Lateral is kind of a "No Brainer", and should align with the centerline of the crankshaft, or at least as close to it as possible.
U-Joints aren't intended to compensate for mis-alignment of driveline components, but to allow for the movement of the suspension. Granted, we get by with a lot of mis-alignment, but according to all of the engineering I've been schooled on, the straighter, the better . .
Plus, Just to reitterate, your whole rear suspension works off the radius created by the centerline through the front U-Joint. If your rear suspension isn't designed to work through that radius it will be in a bind and will not function properly.
Based upon prior experience, I'll expect a lot of differing opinions on this particular subject.