Best thing to do first is to pull the shaft and measure the total length of the spline to determine engagement.
First, mark the shaft so after you pull it apart you can put it back together in the same position (this is important). Then unbolt the shaft at the pinion (axle side), pop the shaft out of the yoke (being careful not to let the u-joint caps come off), and pull the shaft apart at the spline. Measure and record the total length of the splines from a reference point, and then put it all back together. Using that measurement, you can then determine how much spline engagement you have a ride height. Then, you can drop the rear axle to full droop and again using your measurement, you can determine spline engagement at full droop.
Post up what you find, and we can let you know if it looks like enough.