I also like doing it as bbortko mentioned. With the tires off but the axle at ride height you can easily access the control arm and track bar bolts. Even a pivot bolt you did not need to loosen you want to loosen and re-torque with the weight of the Jeep sitting on the suspension. This is because the stock control arms, and a number of aftermarket control arms and track, use a rubber-ish bushing. That bushing flexes instead of rotates as the arm move up and down. The bushing should not be flexed, it should not be under tension, when the Jeep is at rest at normal ride height. The way you achieve that is to have all the pivot point bolts for all the bushings loose, let it sit under its own weight, and then tighten the pivot point bolts up while at ride height. That sets the bushings properly, so they can then flex one way or the other to allow for suspension movement.
When you lift, you are changing the ride height. If you don't reset the bushings like this after a lift the suspension will not work properly.
Note, none of this matters if you are running aftermarket control arms or track bars that use a non-bushing joint at both ends, a joint that allows for free rotation instead of the stock style bushing that flexes to allow for suspension movement.
Where are you placing the jack stands to support the axles with the wheels off? My rear has seemed real stiff ever since I had my 2.5” TF lift installed and I’m wondering if it is the same issue. And you are right. It looks impossible to torque it correctly with the wheels on.
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