People often do this with something like a TJ or XJ because they use a 1310 series yoke style double cardan shaft. While I could go on for a very long time about why I disapprove of doing this for many reasons, none of which have anything to do with us selling a drive shaft, a Rubicon is a different animal and makes it even more unrealistic. This is primarily because the Rubicon uses a flat flange on the rear output of the transfer case. It us a somewhat unique flange that is specific to this vehicle so the proper parts are harder to come by. You would have to get a double cardan assembly from something like a standard TJ or XJ then replace the socket yoke with a socket flange. You'd have to shorten the stock shaft to make room for the double cardan, make sure the weld insert of the double cardan fits the tube of the stock shaft, weld it all straight, then you'd still need a driveline shop to balance it. Once all this is done you will have likely spent a lot of time and money for something that is still inferior in quality. Similar to the oddball flange on a Rubicon the rubicon uses an oddball joint at the rear axle. This means that the joint you'd find at the axle end of the front shaft in a TJ or XJ will not fit the rubicon axle. Likewise the double cardan end of a Rubicon front shaft is not going to be compatible with the size double cardan you'd need for the rear shaft. In short, there are quite a few compatibility issues that make this practice particularly difficult, ( might even say impossible) in a TJ Rubicon.
*edit* I just realized that you mentioned Rubicon and SYE. Only a standard TJ would have an SYE, a Rubicon basically has the SYE factory installed on the transfer case. If you have a standard TJ with SYE a Rubicon shaft will not work and vice versa.