I have fairly recently seen a twin engine tug installation where the double UV joints were at quite extreme angles and it all worked fine.
What you have to bear in mind is that the bigger the angle, the larger the losses so it becomes a case of what is acceptable as regards losses in the joint. Also of course, the bigger the angle, the more the joint is actually working so the shorter the life of the joint.
If you look underneath many of the rock crawler type of RC cars nowadays the UV joints are at quite surprisingly steep angles. The big difference being that they are turning very slowly and are driven by hi-torque motors. Fast motors opens up a range of different concerns.
If it was me I would always aim to minimise either parallel displacement or angular displacement to give the couplings as easy a life as possible.