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There are alignment marks on the pitman arm and sector shaft, and the FSM has a starting measurement for the relay rod- "Relay rods should be approximately
1,076 mm (42.34 in.)."
If you don't have an FSM, you should get one.
I don't know of any way to adjust that. I have a 6" lift with no issues, and no modifications in that area.I do have an FSM. My interest lies in the angle of the tie rod relative to the Pitman arm. I have a 2.5" lift and was about to replace the seized tie rods so I can get an alignment and wondered if it should be squared up. I'll look at the FSM again.
I don't know of any way to adjust that. I have a 6" lift with no issues, and no modifications in that area.