The ‘new’ (Service Action Q041 was in 2010) design introduced a CV joint at the final drive end to eliminate the spline misalignment that caused the earlier failures.
Because the engine, transmission, transfer box & front final drive are all one rigid bolted assembly there is no change in length of the propshaft (e.g. due to suspension movement) so there is no requirement for a sliding joint. The issue was caused by fretting corrosion wearing away the spline due to angular misalignment. Land Rover’s initial attempts to solve the issue were based on getting the alignment correct
In the end, though, they gave up and went with a CV joint.
Phil

Because the engine, transmission, transfer box & front final drive are all one rigid bolted assembly there is no change in length of the propshaft (e.g. due to suspension movement) so there is no requirement for a sliding joint. The issue was caused by fretting corrosion wearing away the spline due to angular misalignment. Land Rover’s initial attempts to solve the issue were based on getting the alignment correct

In the end, though, they gave up and went with a CV joint.
Phil