CV Joints/Rzeppa joints

It would seem that the “Zeppa” joint is the Rzeppa joint. All recent FWDs use the Rzeppa joint at the outer, wheel hub end of the drive shaft. The inner joints are tulip joints which allow the shaft to move in and out as needed when the angle changes. The only other constant velocity joint commonly used on automobiles is the double cardon joint which was once common on the front axles of 4 wheel drives.