At less then 6" of lift a drop pitman arm will cause steering geometry problems. You need to alter the sway bar link bracket on the axle, upward and slightly back.
My 2000 did the exact same thing when I went from 3.5" of lift to 5.5" of lift. I have fixed lowers and adjustable uppers. Adjusting the uppers to clear the stock bracket did not result in an acceptable pinion angle or caster angle. I bought the PolyPerformance axle side sway bar relocation bracket and welded it on just like in the picture. Problem solved.
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