Drive axel touches frame? Help!!

So I just looked at my 2010 and the crossmember has an arch in it. I am parked and bobtail

 

Air dumped and still has a ton of room.

 

If the axle is sitting on the bump stops and the yoke is still too close to the crossmember, the only thing it can be is the angle of the rear axle. Check to make sure somebody didn't put shims in backwards. Then ujoint angle is probably way off.

 

Interesting, they fixed the older poor engineering on 2010 models, mine is 2010 but i have U shaped aluminium crossmember. I used to have same crossmember as OP on my 2008 model, on truck i puchased/built in 07, and it touched the driveline. If you look around in truck stops at older volvo models most likely have same isues as springs get weaker or air leaks.
Here is one used for 200$, looks dimilar, change the crossmber, cutt the huck bolts and if you don't have huck gun, you can use grade 8 bolts, any volvo shop has them as replacement option for hucks.
I still believe you have air leak problem ,weak torque leaf /loose u-bolts.
volvo truck 2007 crossmember - Google Search

Btw, I have this older photo on my phone, as I said it's hard to find cracked torque leafs like this, have to look from underneath.
Btw, I watched this videos about huck 360, you'll find different sizes would work better to replace the crossmember without the need for huck gun. They can get tightened with any impact wrench and are five times more vibration resistant than regular nut bolt fasteners, same like huck bolts,
Huck 360

 

Wow. So it’s possible that the truck has had that problem since the new drive shaft was installed in 2016. The previous driver couldn’t figure out the problem and decided to sell it without telling the dealer. The dealer mechanic may have done a test drive, but the truck wasn’t fully loaded, and they didn’t notice a thing. It would be interesting to know how many people have owned that truck and sold it because of that problem.