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When you use shims you will start changing your caster and you will steer funny.


Only if you use shims that take the caster angle beyond factory specs for caster angle:
- http://www.4crawler.com/4x4/ForSale/Shims.shtml#FAQ1

As noted, on the front axle, shimming to restore proper caster angle is fine, and if that improves the pinion angle, great. You are correct that you don't want to correct the pinion angle solely by shims as that can and will impact the caster angle and if you drive on the street, that is not a good thing.