I've built and raced offroad trucks, including mug boggers with 44" tires, as a hobby for about 25 years..in the interest of full disclosure.

Gave it up back in 2004 after an accident in my MX Bronco put me out of the drivers seat forever.
But how are large
axial loads created in axle or drive shafts of a truck? The source of radial loads is obvious, of course.
I am aware of at least one marine CV joint product that can take - is designed to take - full propulsion thrust loads. Used them in a couple yacht projects, in fact. But they are completely inside the vessel and are fixed in place;
http://www.aquadrive.com/
Might also be worth a good look at how gimbal on the Arneson surface drives is made...since they are a steerable shaft drive device.
As an aside, we've (my marine engineering company) recently been requested to help with the development of an advanced vessel concept that requires a "retractable" propeller shaft line and to do that will almost certainly require a submersible CV joint capable of reacting bot the axial (thrust) and radial (torque) from the engine.