With the front (or rear) prop shaft removed you won't have any drive as the transfer case is like an open differential and sends the power to the path of least resistance.
In low range the transfer case locks giving 50/50 split of power to the front and rear differentials giving you drive again.
If it is just the C/V (transfer case end) then a CV-861 will fix it, Falcon XR8 ute ones fit.
http://www.ebay.com.au/itm/FORD-FALC...oAAOSwfcVUGqCZ
But if it is as you said a striped spline then a replacement will be required.
There are several different lengths available depending on which engine you have (transfer case sits in different position depending on the engine/transmission combo) so if ordering off the web make sure it fits your engine type.
A custom one made is the ultimate answer. Tom Woods (in the USA) make one
http://www.4xshaft.com/ (look under WK) using uni-joints.
I had one made here (like fig 4 on Tom's site) in Australia for $1k but as luck would have it they didn't balance it right so I'm back to an original till I sort it out.
These guys
http://www.ebay.com.au/itm/272401694...%3AMEBIDX%3AIT list a CV for the Grand but also say they make custom shafts. May be worth talking to.