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Standard Gen 1 & 2 rears have half-shafts with u-joints at both ends and rather large diameter tubing. The Gen 3 cars have splined solid shafts with constant velocity (CV) joints at both ends. I think the CV setup is actually a little heavier, but they are much more efficient at transferring torque throughout the range of movement than u-joints. Net result is more power at the tire and better handling.
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