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The main thing to remember about this design is that when the wheels go up and down the differential does not go with them like it does on a horse cart sprung live axle affair. The engine, the transmission, the propshaft and the differential should all be aligned on the same axes. They should be in one long line.
Whilst the splines help with removal and fitting they are also there to make up any discrepancy between the position of the flex disc on the differential and the position of the flex disc on the transmission / gearbox. Imagine building thousands and thousands of cars and imagine how much the position between these two points could vary between car and car and car and car...
...bung in a splined shaft to make up the expected tolerance in all of those gaps.
(Now don't mention that single UJ)
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