U-joint on steering shaft: float or bolt down?

My point is, on my system at least, there is only at most 2mm of movement on that axis, and nearly an inch of spline contact, so no way it'll slip off if you let it slide on the splines, like a driveshaft yolk on a tranny output shaft
I think that is a great idea, put it together and run it like you stole it.

Just be sure you have a few million dollars liability insurance, and a get out of jail free card.

If it fails you will be negligently liable since you did not install it per the manufacturers instructions.

Get a mechanical engieer to look over your design.