Last attempt before I give up for now and just make a mower to go at the back.
I cut the drive shaft apart and started again. This time I eliminated the long splined slip joint. Instead I've left the pin out of the bit that slides onto the mid PTO shaft so it can slide as the axle pivots - it only needs about 7-8 mm. I'll have to re-check this when it's back on the ground - might be more movement than this when the drive at the front axle changes from forwards to reverse, drive to overrun etc....not sure how easy this will be to check or measure.
Anyway, for now this change appears to have fixed the wobble at the mid PTO end of the drive shaft - much better than it was.
Here it is at idle - approximately 600 rpm.
Again at full speed - 2500 rpm.
Looking straight up at the mid PTO connection with the front axle pivoted fully both ways. This shows how far the fitting slides on the PTO shaft.