Shaft is a mechanical element that transmit power and torque moment. Usually shafts are the elements with gears and pulleys attach on them (power transmission). The axle on the other hand is a mechanical element that does not transmit power. It can rotate or it can stand still. It is only loaded with bending moments.
In vehicles, the terminology is same. The shafts that transmit power to the wheels are called drive shafts. The driven wheels have axles. Some people like to call the drive shafts axles (or half axles), from where the confusion can occur. The right term is drive shafts.
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