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Shorter pitman arm, longer highsteer arms should solve this.
I can't tell from the pic, but is that a Toyota axle? Are you 100% sure that Toy axle can even steer as far as your pitman arm can swing in the pics?
You'd want to NOT lengthen the steering arm, as this would require more throw from the pitman.
Need a longer pitman arm! The waggy arm is not long enough to get full turn on the axle. I need about 7.250" center to center. Does anyone build customs, or would a scout arm work?