Chains should be used to drive the cam chains, shafts should be used to drive the wheels.

About half a million miles with shaft-drive bikes and only two failures. I had a u-joint fail on a Kawasaki Voyager 1300 and #1 son managed to twist a driveshaft in half on his 650.

Yes, chain drive is mechanically more efficient, but not nearly as practical for those of us that ride a LOT. How much is a lot? I have only done about 6,000 miles in the last 6 weeks, so I am approaching that mark. Belts are quieter, for as long as they last, but they, too, need to be replaced every so often.
Yes, early shaft-drive bikes tended to jack up and down when the throttle was changed (never heard about the sideways part), but Suzuki managed to do something to really minimize that effect. Still takes some adjustment if you are accustomed to riding really hard on a chain-drive bike, but for the average rider, the only thing you will notice is the lack of chain noise and the ease of maintenance.
Oh, the reason that racers prefer chains? That's easy. Very easy to change ratios, less unsprung weight and it maximizes power transmission. They are not terribly worried about having to do 'daily maintenance' as the race is only a couple of hours long, and the chain and sprockets are going to be new for every race, anyway.
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