A process for forming a flexible composite driveshaft includes providing a mandrel having a rigid region and a compressible region, applying fiber tape to the mandrel using automated fiber placement with in-situ laser curing in the rigid region and without in-situ laser curing the compressible region, and compressing the fiber tape and compressible material in the compressible region to form diaphragms that extend radially outward to a diameter that is at least twice the size of a diameter of the composite driveshaft in the rigid region.