[Cory]

I think everyone is making this more difficult than it needs to be. While I understand these solutions are probably geared towards teams who do not have a lathe, the best and easiest way is to use a lathe and turn down the ends.

I would guess that 90%+ of FRC teams could find a machine shop willing to do so in less than an hour of calling up shops. Just for reference, when we do this it takes no more than maybe 5-8 minutes to face a shaft to length, and turn both ends down to fit into a bearing. So you're talking about maybe an hour tops to do all of the shafts in your drivetrain. I really don't think you'd have a difficult time finding a shop to do an hour of work for you (especially since it's all manual and involves virtually zero setup time).