An auxiliary view is commonly used to depict an inclined surface that is not parallel to any plane. The view is necessary to show the object's true size.
If I read the instructions correctly and judging by the drawing you have attached I would draw a line between the two centres of the shafts (as if you were doing a section). Next I would use the List command to find the angle of this line. Let's say it's 25 degrees. Then I would rotate the plan view -25 deg so the line is now horizontal. Now you can develop your auxillary view.