Four link w/panhard bar

The Tim McAmis videos are great. The part about pinion angle should be fine. But the part about adjusting preload may not apply to this street vehicle.

Tim is adjusting for a very rigid chassis and a rear suspension equipped with an anti-roll bar. Engine torque rolls the car to the right and the rear suspension and anti-roll bar puts extra down force on the right rear tire.
In a street vehicle not equipped like a ProMod drag car, the left rotation of the drive shaft is twisting the rear axle assembly to the left taking weight off the right rear tire. In this setup, you would need to shorten the top right bar slighty (preload) for even traction.