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Several manuals say, I forget is it usually 4 inches?

Trouble is if a mower goes over a hill and valley, does it stretch out another 2 inches more than planned, not good to be running right at the minimum overlap.

When cutting them because they are too long as you mention down below, you need the male end short enough to not bottom out. As well as the female end short enough not to bottom out. So usually you need to cut some off both sides or you dont gain anything.

Paul
 
4'' to 6'' would be the minimum. I would go for as much overlap as I can get. With the implement lifted so the gearbox shaft is level with the tractor PTO shaft, that should be the shortest the shaft needs to be. Each half having about 1-1/2'' clearance from bottoming out should work and you maintain as much overlap as available that way. Cut the same amount from both the inner and outer shafts.
 

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