I only deal in '98+ but...the transmissions are basically the same.
For my Rangers, the driveshaft for the manual was exactly the same as for the automatic; so direct swap. (i.e. the M5OD had same splines as the 5R55E).
Now, I have played with non-standard combinations, in which case, swapping the axle yoke from pre-'98 for post-'98 got me the end I wanted (going from 7.5 to 8.8); and I have swapped the transmission yoke (M5OD to 4R70W - V8 conversion). For all those examples no modification to the driveshaft was required.
You don't want both a slider at transmission and slider in driveshaft, e.g. put 2wd transmission yoke on 4wd driveshaft (with both compressed, driveshaft would fall out and you would get a pole vault situation).