The Rack & Pinion normally only controls "Toe In".
If the rack is not loose internally (worn out) or leaking fluid, the rubber mounting bushings can be replaced if they are worn out or have become too soft.
Based on your description,
Inner-Edge Tread Wear:
Inner-edge tire tread wear is the most common tread wear problem most technicians see.
The angles causing this type of wear are can be negative camber or toe in or a combination of both (see "One Side Wear" on chart below)
Jeepin By Al (JBA) has custom upper control arms for lifted Jeep KJs to help with alignment issues.
https://jbaoffroad.com/jba-upper-a-arms ... rty-s.html
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