Discussion
Which additional capability does the inner joint require?
Answer: A
As the suspension moves, the distance between the differential and the hub changes, so the inner joint must allow the shaft to slide as well as to articulate. The tripod design does both. Angular capacity is greater at the outer joint because of the steering. Working the distinction through on a single concrete case fixes it more firmly than any rule of thumb. The shared behaviour explains why these belong together and the differences explain why both exist.
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