Yes all 3.5 V6 over here had rear CV type yoke from the t/case end instead of the traditional uni type joint the diff end still ran the 30mm cup uni joint though. I guess this was to eliminate vibrations in the swb as the t/case & gearbox are larger and longer than the 3.0 V6. This was also continued into the Gen 3 & 4 except that the diff end is also now a CV type joint and the propshaft itself is made of carbon fibre (to shatter into a million pieces in the event of a massive frontal impact instead of piercing the floorpan and potentially impaling the driver/passenger). There has been a few instances of these propshafts shattering during hard offroading due to rock etc impacts which have been reported back to Japan.
To me this is a design flaw - fine have the carbon fibre propshaft but for god's sake eliminate the stupid slip yoke arrangement so at least you can unbolt whats left of it from the t/case & diff flanges and drive home in front wheel drive. Absolutely criminal to copy the stupid Jeep set up IMHO.