

How do you figure dual front motors would alleviate any of what you said a front diff would need? Dual front motors will still be rigidly mounted to the chassis, requiring flexible couplings. The rear is also independent, requiring the same flexible couplings whether it’s a diff or motors. CV axles all around. Non-steer wheels still have vertical travel from the suspension.
Look under any RWD IRS passenger vehicle and you’ll find nearly every single example uses CV axles, not u-joints. U-joints have famously irregular speed variation as the angles change in steady rotation, so the constant velocity joint is far more common for the half axles