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It is like anything else if you are setting a car up to perform, close will work, exact will work better.
The driveway method I was taught is fairly simple. Find yourself a reasonably level piece of ground(to be safe), driveway, parking lot, whatever. Jack the car up and support it by the suspension on both ends. Now use a angle finder to set the pinion to the same angle as the driveshaft.
Through travel the pinion angle will change, zero'ing it to the DS will put the least strain on components.
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