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Sure -- it's no different from fabricating a driveshaft. Just shorter and stronger (due to the fact that the diff multiplies torque). It's not a simple thing, though:
- Fabricating the yokes would be a huge task unless you buy premade yokes.
- You'd need to research proper materials to ensure you have the right strength (grade and thickness)
- Welding the tube to the yokes must be done very carefully to avoid overheating and warping the tube which will distort the shape.
- You'll need to balance them when you're done
Very basic. A length of D.O.M (preferably) tubing, a pair of 1350 weld yokes for the correct size tubing and wall thickness, and a pair of universal joints. It would be easiest performed in a press welder. There is no reason the tubing can't be steel rather than aluminum. All C4 half shafts are interchangeable. It is one of the more basic drive line fabrication exercises. All the parts should be readily available.