If it is a g13 engine, Early models just had a cam sensor, Later had cam and crank sensor.

Slip joints on the props should be nearest the t/box. Have you tried driving it with the rear prop removed to see if the noise disappears.
If you get what i mean, Remove prop, 4wd and drive it as a front wheel drive??

Also you would generally only point the rear axle at the t/case, As doing the front would alter the caster angle, Unless you cut and shut it.

Also phasing is when the propshaft itself is out of alignment as your perfectly timed video demonstrates.

I'm not arguing with physics. All i'm saying is i've done it, And they have all driven fine on and off road.

I would have to disagree with you on that. I have done it more than once without any problems. But each to there own.

Other things to note, As this has been lifted, and i assume fitted with a shortened vitara axle. Has the axle been rotated so the diff pinion flange faces the transfer box? If so the the diff oil level will need to be higher or the pinion bearings will be starved of oil and fail giving the same symp...

The crush collars are used in the front and rear diff. They are used to preload the pinion bearings. If the diff has taken a clout on the on the propshaft flange (Oooh Flange) It may well of effected the preload, This would give alot of noise on deceleration due to the amount of backlash (slack) in ...

20 by 20 and 2 inches thick where the tanks are joined to the core.
Bigger than a jimny rad.

2.7 v6