Can you grab some pictures of your drive shaft where it connects to the rear axle and how tall is your lift? Unless it is ridiculously high a drive shaft with a double cardin style U-joint should be able to tolerate the misalignemnt without changing the caster on your rear axle, which is what the RC control arms are doing. Basically lower control arms set the axle position front to back and upper control arms set the caster or rotation of the axle.
Realistically it seems like a lift large enough to create that level of misalignment should come with a full set of adjustable control arms, adjustable track bar or trackbar bracket, likely brake line extensions etc.