I plotted what you’re looking for at some point, I think the antisquat was around 80ish (that’ll changed depending on your center of gravity) and the roll axis inclanation was like 4ish degrees of oversteer and the lower links were around 36” longIf you don’t have excessive anti-squat and excessive roll steer at your ride height then you wouldn’t need to change your rear suspension geometry. Roll steer will do funny things, especially in places like Moab where you have great traction and steep off camber climbs. The rear end will drive under the truck sometimes and jack up one side of the truck.
Just watched your Soup Bowl video. On that obstacle the roll steer jacking effect actually helps, since it’s trying to lift the right side of the truck just as the right front tire needs to climb. On other obstacles it can try to roll you over.