The side axles do "plug in" like the Nissan but the spline size is differnt, at least compared to the R180 from the S30. The Betamotorsports side axle allows installation of the Subaru LSD into the S30 and retains the original S30 drive axles that use u-joints. For the S31 you will likely need differnt side axles, or to fabricate an adapter to connect the S31 CV joint to the Subaru side axle. Search around here in HybridZ, if it has been done you will likely find a thread about it. At minimum you will find lots of info about the subject of the drive axles and CV joints that will provide conceptual information so you can determine what the issues are and get leads to shops that can provide parts and services you might need.