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This paper suggests how to improve the fatigue strength of an axle shaft, which is the vulnerable part of an axle shaft system for a 3.5-ton commercial vehicle. The axle shaft is composed of a universal joint with a spider and yoke, yoke shaft, and so on. Structural analysis of the initial axle shaft was conducted to select the exact area for structural strength fatigue improvement, and as a result, the inner/outer yoke shaft and spider were selected. Four cases considered design variables, such as length and thickness, to verify the enhanced durability of the axle shaft, and fatigue analysis was conducted. Finally, we suggest that the axle shaft system satisfied the working conditions for a 3.5-ton commercial vehicle.