You can model this "play" in the joint by individually defining gaps on the appropriate restraints. If modelling the slip joint using restraints across a single Node/CNode pair, put a gap angle on the two rotational restraints that are perpendicular to the pipe. If modelling the assembly at two locations along the pipe, then gap the appropriate translational restraints (which form the couples providing the rotational restraints).
It's up to you to determine if the gaps are accurate and the results acceptable.
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Dave Diehl