I mean there is a few inches of play between the time you move the rear wheels and the time the actual driveshaft moves.

You start turning the wheel and then you hear a clunk, at which time the drive shaft starts to move.

If I understand correctly, if you were to move the wheels, the half shafts shoudl move at the same time, causing the driveshaft to move at identical times.

That is definitely not happening. There is a lag.

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