Sure, It's a lot easier than I thought thanks to @Forces, I just looked at his code.
Just add this to the trucks class .xml file: (it goes inside the <TruckData> section.
<Shafts>
<Shaft SocketPointA="TF" SocketPointB="AF" />
<Shaft SocketPointA="TR" SocketPointB="AR" />
</Shafts>
and add this to the trucks mesh .xml file:
<SocketPoints>
<SocketPoint Name="AF" Pos="(1.76734;0.61222;0.20309)" />
<SocketPoint Name="TF" Pos="(0.71189;0.97644;0.34959)" />
<SocketPoint Name="AR" Pos="(-1.93354;0.61457;0.01348)" />
<SocketPoint Name="TR" Pos="(0.36159;1.06768;-0.00377)" />
</SocketPoints>
AF is for axle front
TF is for transfer case front
AR is for axle rear
TR is for Transfer case rear
I just used the coordinates that put the ends of the shafts where I wanted them.
Here is what the shafts look like. I don't see a way to change the color but I think they look cool.