So I did some research. Generally the main wear comes from micro misalignment between the two shafts. Very fractional misalignment accelerates wear plus there is obviously slight slip available so the shafts can be inserted within each other to facilitate assembly etc. With the loss of the protective lubricant wear will accelerate. Splines are a common wear point however they’re normally designed to last the standard service life.
I agree that unload and reload of torque against the box would cause more movement of the two components whereas towing and constant load less so. I’d have said aggressive high-load city driving would be the worst for joint damage but I have no actual evidence to back that up.

