Tony, I'm not using commercially available couplings on the shafts, I'm using two lengths of plastic tubing as couplings. The two motors are relatively low powered and are only running off a 4.8volt battery pack, so I'll not be worrying about high revs and coupling slippage with this set up. I often use plastic tube as couplings and never had a problem yet.
As regards end float in the shafts, I always guesstimate mine.....just a tad of play at both ends of the shaft is normally fine. Just enough play that you can feel...
Hope that helps?
Rich