Articulation. We all want it, right? I've dismantled the IFS on several cars & this KJ & my observation is, once the sway bar is disconnected, the largest resistance comes from the upper & lower control arm bushings located where the control arms secure to the frame of the vehicle. In short, the way they are designed is the center metal cylinder is squeezed & held stationary by the U-bracket mount & the attaching bolt & nut. then the rubber surround flexes as the "free" control arm moves around this stationary pivot point.
There are 4 of these on each side of the Liberty. & if you loosen the mounting bolts & nuts while the KJ is up on jacks, you can see the wheel drop more, & I'd bet you could stuff it further into the wheel wells too. But I doubt that driving with loose bolts on the suspension is a good idea.
So here's my idea: can the bushings be made using a bearing of some sort? I'm thinking of a spool shaped inner race, so the mounting bolts & nuts can be secured, surrounded by a cylindrical outer race, this assembly would then have the rubber bushing around it, then that would be pressed into the control arms. Voila, IFS with articulation.
What's wrong with this idea?