Thansk for the video, that helps a ton!
You have two issues:
#1-Your upper control arms are on the wrong sides. The "bend" in the arm goes toward the rear. At about 0:56 in the vid I can see the "bend" is toward the front. This is causing a BUNCH of caster.
I also noticed at about 0:45 in the vid that the lower ball joint is leaned way back (which lead me to look at the upper arm). When installed properly the ball joint will be very close to being centered in all planes so it has the most freedom of movement.
#2-Ride height is still way too high.
If you look at it from the front you should be able to draw a straight line from the center of one lower ball joint to the center of the other, and the a arm mounting bolts at the frame will be on this line.
Swap those arms, get a good alignment, and you'll get the steering angle back to normal.
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