Adjusting pinion angle is easy if you have a link suspension with adjustable control arms. We like to set the Jeep’s frame on large jackstands, remove the coil springs, and use a floor jack or jackstands to hold the axle at ride height relative to the chassis. If the pinion is low, either shorten both the uppers or lengthen both the lowers. If the pinion is too high, lengthen both the uppers or shorten both the lowers. If your Jeep has leaf springs you will need to cut and remove the spring perches from the axle and install new ones. Then you can loosely bolt the axle back in place, check its position side to side, and while the axle is on jackstands and the weight of the vehicle is on the axle, use a floor jack or rubber mallet to adjust the pinion angle. When it is just right you can weld the spring plates to the axle.