My friend was telling me about a replacement for a panhard bar called a watts link. The advantage is that it keeps the axle centered through the full range of movements. Might be useful, just wanted to get some thoughts on it.http://www.brockeng.com/mechanism/Watt.htm

 

Here that system is called Watt Parallelogram.

It's used in sand rallies (Similar to your Bajas) in trucks like Sidekicks, etc.

Don't know how it performs in other kinds of offroad, for example rockcrawling.

David