Not 100% sure which joint is the problem.
It has a 'C' shaped spring clip on the splined shaft?
It may be possible the clip is not the correct shape.
They are easily replaced (after you order it, wait for it to ship and arrive).
Or you can try bending the clip but its pain.
You bend it and it goes back to the original shape, bend it some more-now its a pretzel.
I didn't see any info on your SxS.
If it is still under warranty make Honda fix it.