A rolling-element telescoping shaft assembly for connecting a driveshaft and transmitting a torque includes an outer shaft member extending along a longitudinal axis and defines an interior bore and inner surface. An inner shaft member is at least partially disposed within the bore and telescopically moveable relative thereto along the axis and defines an outer surface. Rolling-element outer grooves are arranged in the inner surface, distributed around the axis, and functional (i.e., used for transmitting a torque). Outer recesses are defined between the outer grooves and define a shorter distance between adjacent torque-transmitting outer grooves. Rolling-element inner grooves are defined on the outer surface and distributed around the axis. Rolling elements are rollingly arranged in the outer and inner grooves and rollingly engage the outer and inner shaft members during telescoping movement of the shaft assembly to reduce friction therebetween.