Ray Currie of Currie Enterprises, which specializes in rearends and rear suspension systems for race, street, and off-road applications, agrees that pinion angle is a pretty simple (there’s that word again) concept. He explains that a universal joint is designed to handle between 1 and 3 degrees of pinion angle. This is a safe operating range for the U-joint. If the U-joint is forced beyond its normal range, it can hyperextend and lead to catastrophic failure. Currie always strives for 2 degrees of pinion angle on a street car regardless of the type of rear suspension being used.
U-joint angle has everything to do with the rpm environment it will operate in.
In the performance world you would want 0 degrees under load...which would depend on your suspension in which to set it, maybe 4, maybe 3 maybe 2...
Most leaf suspensions can see 3 degrees, most links may see 1 or 1.5