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Eric and OP, in regards to this the info you posted is correct......when related to a yoke that slides onto a trans or transfer case output shaft. In regards to a slip and stub yoke, there is usually a corresponding spline on each part. The driveshafts that slip right on an output shaft already...

That odd missing spline is normally used for phasing. The slip yoke on the truck should be at the driveline shop so it can be properly phased. Phasing is probably less critical with a winch driveshaft but it costs no more to do it right. Take him the slip yoke.