I checked out the steering shaft on the Durango. I think it may be what you need to overcome some of the angularity and direction problems you mentioned. It's got a heavily oversized universal joint at the rack and pinion and then one up near the firewall at the column output with a urethane disc joint in the middle and the lower end is equipped with a booted side joint.
What do you think?
Lower Intermediate Steering Shaft For Dodge Durango Dakota 2000 4WD 425-265 Sale | eBay