To be fair Mike, it might be better then the Ineos factory set up 

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Yes that is an axle shaft in the video but similar arrangements are used for driveshafts. Take a look at this factory front driveshaft for a Jeep Liberty. Something like this with a soft "CV Saver" installed inside the accordion boot should work. The larger aperture opening will give the CV Safer and boot room to flex.That's for axle shafts not Drive shafts. Axle shafts rotate at far fewer rpm's than a drive shaft depending on gear ratio in the diff. In the Grenadier the driveshaft spins 4x as fast as the axle shafts. Those are also being used for racing applications that get rebuilt for each race.
An accordion style would have to be more like hard plastic such as the one on the Grenadier for the slip joint. But these won't work at angle, the plastic will fail quickly.
Something along those lines. The inner boot will need to be something like the CV Safer so that the grease will stay in the CV joint.Just trying to read the tea leaves here so a CV for a Porsche 93(x) with a CV-Saver or Double (inner/outer) accordion boot arrangement with a adapter plate to go from 6 bolt CV to 8 bolt flange on the Grenadier?