Woodley was not as refined at the time, especially with his ability to dictate a fight to "ration" his cardio, but Hendricks had trouble there as well. He's lost many third rounds, including against Pierce and Koscheck. Hendricks also had tough times with almost every wrestler he has faced, up to and including GSP. The only exception is Fitch and that has proven to be an anomaly at this point.
I think Woodley with his power, speed, and wrestling would have been a more than formidable opponent for even prime Hendricks. Depending on a three or five round fight, I'd lean to Hendricks winning but I'd put money on it being a close, hotly contested decision and not a finish. Actually, if anyone were to get a finish, I would say it would be more likely to be Woodley. Hendricks has always been pretty hittable but his chin carried him through. Wouldn't be the best thing against Woodley.