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The control arms locate the spindle via the ball joints, and sweep out an arc as they move up and down.
The control arms are different lengths and are not parallel to each other, so they sweep out different arcs, and the spindle goes along for the ride. The tie rod mounting point moves through a different arc that is kind-of an average of the ball joints motion.
The steering rack shaft pivot point must be in precisely the right place to match the arc of the tie rod end as it moves up and down or bump steer will occur.
 
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