Control arm hits the frame

Your picture won't load for me, but if there is a deep scratch in the frame where the torsion bar cam hits it, this is caused by the socket in the k-member where the torsion bar bolts to being broke out. Look in behind your lower control arm and see if it is broke there.

The torsion bar is in my opinion is a poor design which puts a lot of stress on the one mounting location for the lower control arm. This stress will eventually weaken the k-member and the socket will break away from the k-member and kick the torison bar, lower control arm, and wheel out.

I bet you hear a lot of grinding/clunking/thudding sounds whenever you hit a bump. I went through this exact ordeal with my Duster a couple months ago and it is not fun to deal with.