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Polyurethane comes in many different forms and hardness. I have compounds here that are as hard as styrene plastics. I also have some that has the same properties as the Pro-thane pieces that one buys.
I purchased one of these steering joints for my '67 XR-7 back in the early 90s and it still works just fine.
I have thought about making one of these for Betty Lou. I'll likely use a loose weave Kevlar cloth as the strengthing composite.