Yup! No need to overthink it. Vehicles that have multiple driveshafts with double Cardan joints are what get messy, but even that's just because they're over-thought.
A U-joint needs to be 180° out of phase from the the one on the other end of the shaft so the angles don't work against each other:
...And a .GIF to show the ideal smooth operation from the two ends having matching angles:
If you could watch just one of the four sockets of the U-joint, you'll see that when one is "tilted out", it's corresponding one on the U-joint of the other end of the shaft is "tilted in". As it rotates, the joint is constantly pivoting out and in and the opposite one is pivoting 180° out of phase from it.
The point of having the rear pinion a degree or two lower is because it rotates upward under load, even just the load from propelling the vehicle at a constant velocity on a flat surface. Setting it a hair low with the vehicle at rest means it'll be right where it needs to be when moving. A leaf-sprung rear lets the pinion rotate much more than a linked rear, so you set the pinion much lower, like 5-7 degrees. Links maintain the angle much better so you're only having to account for deflection in the bushings.