No, they don't, at least on the pre-Defender 110, and I think on all Defenders as well. What they have is the front and rear universals on the front prop shaft at different phases, from memory, about two splines on the sliding joint (the shafts are marked on both sides of the spline joint), which is considered to sufficiently reduce the vibration. 
Worth noting that the RR Classic, Disco 1, with basically the same power train and suspension, do have a double Cardan joint at the TC end. And in my view, that would be the way I would go in your case.
				
			 
			
		 
			
				
			
			
				John
JDNSW
1986 110 County 3.9 diesel
1970 2a 109 2.25 petrol
			
			
		 
	
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