I also suffered horrendous torque twist on my homebuilt shafty crawler when I first built it but I've made some changes which have now virtually eliminated the twist.
1) Increased wheelbase from the original 11" to 13", this does two things, it reduces the propshaft angles to acceptable ones and the longer wheelbase helps balance the vehicle when climbing/decending steep inclines.
2) Fitted a reduction gearbox to give me 65:1 gearing which means I can idle at virtually no revs and still pull the vehicle over obstacles. The lack of revs also reduces the twist problem.
3) Changed my shock locations so that the shocks are angled back from the axle to the chassis slightly (they were vertical before) and also moved the lower shock location outboard on the axle just enough so that they are slightly angled in at the top. They were originally vertical here too.
4) I changed my 'A' frame location on the top of the axle to be just in front of the axle center line, previously my 'A' arms location was almost vertically above my lower link axle locations behind the axle center line.
I also fitted shock spacers on just the two opposing corners that suffered the worst twist (the axle would almost rise to the chassis under even a small amount of power!) I left the soft springs and oil in though as it allows better articulation.
The increase in wheelbase also gave me an increase in cross axle articulation to 9" from 7" as well as solving the twist issue. Only downside is loss of ramp breakover angle but I still have 4" of clearance so not too bad.
Hope this helps, Ian.
Here are the latest pics of my crawler: