I think it can be done with stock arms without too many problems but some trial and error is needed. The steering arms are becoming the hardest part since the short versions are getting hard to find. The reduction in turning radius, for me, is a non-issue. The car will make a 3-point turn on a narrow street with no problem and turn into parking lot spots easily.
The increase in cornering power was well worth the effort and any tradeoffs.
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