I think I can help. 2-rail O Scale has used rubber hose coupling in high power applications for 3/4 of a century. Rubber is not what it used to be, and as of now the only hose that will do for high torque motors on large models is the Toyota #0 vacuum line.
To use hose like this, you need to have the alignment of motor shaft and worm shaft such that no "S" curve is necessary - that is, the enter lines extended must intersect in the exact middle of the gap.
For steam models, you need as long a worm shaft as possible to reduce torque wrap-up.
I have used speedometer cable between front and rear engines of Mallets and articulateds. There is not enough room for the Toyota hose, and a slip joint is absolutely necessary.
I have miniature automotive style U- joints, but prefer combinations of hose and horney balls on Diesels and tender-drive locomotives.
Of course, this is just my opinion.