[blakeduren]

The steering arms looks funny....not factory, but not a lifted one either...looks bent from the photo.
The draglink angle is a bit steep. The more level the better. A dropped pitman arm might help assuming there is nothing wrong with the steering arm.
That shock that is welded to the "Inner C" is weird. No reason for that to be there.

Go through every joint in the steering system. You can replace the steering shaft with a high dollar aftermarket unit or just use one from a 90's Cherokee with one minor clearance thing on the steering column. Long at your rag joint before the steering box.
Also....
Is the frame cracked at the steering box? ORD makes a good brace or a fix it weld on kit for these spots.

Just some thoughts...