A dropped PItman arm does not cause Death Wobble. What it does is screw up the steering geometry which causes Bump Steer... where the steering is forced left/right as the front axle moves up/down over bumps/dips.
That an axle is straight has nothing to do with whether a DPA is required or not, that is strictly up to the steering geometry. The TJ's steering geometry is so good that no DPA is needed for the typical suspension heights we install like up to at least 5" or so. I had a 5.5" suspension lift at one time and not even it needed a dropped Pitman arm.
Yes some steering designs need a DPA once a suspension lift is designed, like the older YJ and CJs. The '97 and newer TJ, however, does not. Installing one will screw up the geometry and cause, again, bump steer. The only way around that is to also install a dropped driver's side track bar mount. The driver's side track bar mount and the Pitman arm must match.... both must either be un-dropped or both must be dropped. Mixing dropped and undropped causes bump steer.