Yeah there street legal, same suspension design is in YJ,TJ,JK,XJ,etc. Some people actually refer to that type of suspension as 5 link, but when I built it I made a double triangulated setup so I wouldn't have to run a panhard bar (aka track bar) I would have to say it depends on the state. NC inspection on vehicles older than 96 is only a safety inspection. So I wouldn't have had any problems here, but I can't speak for all places.

1993 Chevy Suburban 2500- Tow Rig

1991 Mitsubishi Montero LS LWB

SR Parts:
Rear Axle
Coils
Trailing Arms
Front Calipers
and soon to have UCA's and idler arm.
Dual Bouncies
Air Lift Airbags
Aisins
33x12.50x15 Custom Grooved TSL's

Body lift in the near future.