Measure the space between the axle and the frame bumper, and use this distance for the back end of the driveshaft. Make sure there's clearance from the rear u-joint to the front one in a straight line, and you're set. If you haven't got bumpers yet, reverse the procedure, use the driveshaft clearance figure to limit rear end travel. (Allow a bit more room for rear axle "wrap" on acceleration.)