I have aftermarket lower control arms front and back that probably came with the lift. Front Lowers have cam bolts that show room for increase caster. If I get new adjustable control arms should I need upper and lower adjustable or can I get by with only adjustable Lowers? Keep in mind this jeep is only going to see mild off road use.
You need both to properly position the axle where it needs to be. It is a combination of lengthening the uppers and shortening the lowers to dial in more caster. If you try to do it completely with one or the other the axle does not seem to stay where it should be.