Commonly in small rear wheel drive vehicles, it's a one piece driveshaft.
Starting at the rear end, you have a universal, the driveshaft, another
universal, the yoke, which indeed does couple to the transmission output
shaft via splines. This is where the shaft is allowed to move because of
flex in the rear suspension.

Yep, that's the more common version of a slip yoke. Like this:

http://www.motorera.com/dictionary/pics/S/slip_yoke.jpg



However, sometimes there is a slip yoke built into the rear of the propeller
shaft. Here's a Ford version:

http://www.ford-trucks.com/article/i...SlipYoke03.jpg

And another on a Jeep Cherokee:

http://polytropia.com/images/cherokee/AxleMount.JPG

The latter two are similar to what John and I have.