Grand VITARA & XL-7
WARNING: This page is about a different car, the 2004 Suzuki XL-7, 2004 Suzuki Vitara, and 2004 Suzuki Grand Vitara. However, it is still accessible from the selected car via links, so may be relevant.
A constant velocity Double Offset Joint (DOJ) is used on the differential side of both the right and left side axle shaft assemblies. A constant velocity ball joint is used on the wheel side of both the right and left axle shaft assemblies. The axle shaft can slide through the DOJ in the extension/contraction direction.