That won't work very well in a 4x4. You run into interference issues with the front drive shaft.
Also, a crossover pipe isn't necessary, but it's purpose is to help keep the back pressure balanced on both banks. Further, it's location directly affects the torque curve. It's been an awful lot of years since I messed with duals, but if I remember correctly, the closer the crossover tube is to the manifold the lower in the rpm range you feel the torque.
Black 1996 5.2L ZJ Limited