Update: k&h did right by the situation and installed new OEM Toyota u-joints for me yesterday. Cheers to that!
Regarding the driveshaft length bottoming out, tell me if my logic is flawed:
When under load, the rear shackles allow the springs to flatten, effectively lengthening them and pulling the diff away from the transfer case. This in turn, lengthens the driveshaft at the slip joint rather than compressing it. Therefore, the only time that the driveshaft would need to be shorter than when the vehicle is resting on its springs is when the vehicle is up on a lift with axles dangling and the springs shorten, pushing the diff towards the transfer case. By this logic, there really is no need to shorten the shaft as whenever the vehicle is actually being driven, the springs are ether at their resting place under the weight of the vehicle or obsorbing shocks. Maybe this is why nobody seems to notice or find the need to shorten their driveshafts after these standard 2.5-3" OME lifts?