What brand of u joints are you using? If you are using a crappy $6 one from Autozone, that is your reason. Buy a Spicer joint and never look back.
Also, you've gotta have your pinion angle right. With 6" of lift, you aren't going to have it right and your caster correct, too. You have to chose one or the other, unless you go with a dual, dual cardan driveshaft or move your knuckles. My personal opinion is pinion angle wins over caster any day of the week. Going up 6" is not goign to move your caster a whole lot...
On another note, I have a friend selling a HPD30 out of his old XJ (all new bearings, seals, and brakes) with a Detroit true trac (limited slip) and 3.55 gears, if you are interested