To answer the original question, you do not usually need to lenghten the driveshafts for a 6' suspension lift kit. It's always recommended to fully cycle the suspension after the install and check that both front and rear driveshafts have enough spline engagement at full droop. 3 to 4" minimum is my rule of thumb, as you don't want the slipjoint to separate or bind up.
86 bronco, this next part pertains to your problem, too. the rear driveshaft-to-rear pinion yoke angle should be close to zero, about 1-2 degrees below is best. Reason is, when you take off from a start, the rear axle tends to wrap upwards, rotating the pinion upwards in the process. If the anlge is off by more than a couple of degrees, you can get enough binding to snap the u-joint there. When you break one of the u-joints in the CV joint near the t-case, that could be due to lack of grease or normal wear. I've installed many lift kits and when disconnecting the driveshafts, the u-joints are toast, and have been for a long time. Replace them with quality Spicer units, keep them greased, and you should be OK.
My 78 Bronco had a problem with eating u-joints in the rear driveshaft, and the prev. owner finally found the right angle using shims with an add-a-leaf. I installed a 1" zero-rate block under the new, lifted spring pack on my 84 Bronco to correct the pinion angle there. You can get an inexpensive angle finder to check your driveshaft-pinion yoke angles yourself, comes in handy when changing leaf springs or trying out angled shims.
JSM84