Great updated pictures.
There is a "rule of thumb" that the axis between the upper and lower pivots go thru the rotating center of the CV's. This is to prevent plunge. But, depending on the outers camber and caster, gains, what they rotate around, and turning can change plunge. The, usually minor, plunge is taken up in the inner CV where the CV angle is not so great. The greater the plunge the more compromised the inner CV. Picture above shows this but also the conundrum of deep offsets for shaft length and location of the upper ball. Some of the reason for tall uprights is the interference of the wheel and moving the ball outside the tire. This is probably a compromise left for race'in and not recreational. (I couldn't afford a 7075 billet that big!)
I did prove to myself that turning is the real need for this "rule-of-thumb." For my IRS, REAR, I am using a midboard hub with the CV in the center of the wheel. There was no way I could get the axis thru the CV with top and bottom arms. There are actually diff-side pivot locations that allow for "no plunge". That location is about the same distance as the outside offset. This was challenging as mine were inside the diff. I used that point to draw a "pivot line" from, to place actual arm/link heim locations outside the diff. Most SXS are designed that way now. Some Dakar cars use something like that on their fronts, But I can't figure out their plunge issue.
Most commenting here know this but for some of those following along....