Many a book has been written on this subject...
Wait, ooops, many a post..
a) SOA is cake,
b) Drivelines working correctly at full suspension travel, harder.

c) Steering...is where the folks charging good money at professional 4x4 shops earn theirs.

"c" is what I do.
Bending the drag link to make it work, is what I throw away.
A bend in a steering link asks for it to bend more on the trail. a gusseted bent link just prolongs the further bending.

D44 flat top knuckles, upgrading brakes from CJ to GM or Wag, using GM spindles, Ford Hubs...GM Knuckles. then do Cross over steering (minimum) or double high steer with steering links mounted to high steer arms.

SD