here is a good article, not rockcrawling but all the concepts are the same.
Rear Suspension - Instant Center - Mini Truckin' Magazine
Ignore their comment about anti-squat not being a major concern, in an offroad application where you are trying to climb a nasty ledge it is the biggest concern. In an offroad application low anti-squat is good, shoot for ~50-70%
There is a metric ton of info on pirate
This is the drawing that u need to understand to comprehend what i'm getting at in my earlier post.
I'll try to dig up some pirate threads, I read so many good ones a few years back that dug deep into suspension theory investigating cause and effect trade offs and compromises but they are hard to find.