I just completed the TrailMaster kit yesterday. I didn't have to disconnect the driveshaft but did have to disconnect the lower control arms. I already had 2.5" Rancho lift springs so you might be able to do it w/out doing the control arms. Try it without and see if you can get the springs back in. If not you can always disconnect them.
'00 TJ Sahara - 1" Body Lift, awaiting many upgades
'00 TJ Sahara (R.I.P.) - 2.5" Rancho Lift, 2" BB, 1" Body Lift, 35" XTerrain's, Warn 9000lb Winch, Warn Bumpers & Sliders
'05 Excursion 6.0 Diesel