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Yea you will want both the front and rear drive shafts. They will need to be taken to a shop and made the correct length to fit the new/unique dimensions.

I did what @wngrog did and used a three piece FJ60 cross member that I bought from Classic Cruisers. If they don’t have one try BTB Products. The FJ60 crossmember will not fit exactly and most likely the two side pieces will be a little below the FJ55 frame. Just know the year/type of FJ60...