Here’s a picture of the first idea that I had. While it would help with aligning both ends, it doesn’t have any give in it.
So here’s a second version that should be able to take a bit of flex. The black part will be some type of harder rubber. That way there should be enough flex in it to take a small amount of wobble, but it will still transfer power effectively hopefully without too much backlash.
Now all I need is a few uninterrupted hours to build this stuff 
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