heims and other joints all allow for rotational twist on various planes, they account for any inward movement of the axle.
Link length is largely determined by what fits...lol....mine are 35" rods plus heims, totalling ~38" eye to eye....my uppers and lowers are all the same length. Advantage: one spare to carry, pinion remains in relatively the same plane throughout travel (best for a non-CV rear driveshaft). Disadvantage: pinion doesn't tip up during downstroke to assist with clearance, "should" run pinion tipped more down for non-CV shaft.
IIRC, the "rule of thumb" from a magazine was 80%....38" lowers x .8 = 30.5" uppers....for a CV-rear shaft, this keeps the pinion pointing at the t-case output during the entire travel range.
however, there is also a "rule of thumb" that your links should be the same length as your rear driveshaft.
There are piles of other rules too, all of which are made to be broken.
Regardless....lower links should be relatively long and end up relatively flat to minimize rear steer characteristics. I was at a buddy's shop the other day, he was flexing up a rear 4-link he just did....holy crap....30" lowers and uppers, damn near tied them into the inner frame at the same spot...LOTS and LOTS of rear steer....said he was experimenting. Glad I wasn't that customer.