There are a few problems with that picture.
What it doesn't show is that the (Centres that is) steering tie rods position in relation to the upper and lower arms should be a percentage length.
Meaning.
If the tie rod is mounted at the same height as the lower arm it should follow that same line, and if it is on the same level as the upper arm then it should follow the line of that.
Anywhere in between should be treated as a percentage.
If the tie rod is mounted centrally (height wise) at the chassis end then it should be fixed centrally (Again height wise) at the hub end.
In the image it shows the tie rod mounted about 35-40% higher at the chassis end but at the hub end it is only looking like around 25%. This car will bump steer.
The length of the tie rod is also critical (As mentioned above). As also said above it is difficult to explain in short forum posts but....
The "H" and "A" discussed are as close as you can get, the actual is somewhere in between. I would say "A" with the apex points separated, but not to the point of becoming a "H".
The length of the tie rod should be determined (Using what I posted above) by the centre lines from the upper and lower ball joints and the upper and lower chassis mounting points of the arms.
That will give you the exact length, but.... (It just goes on and on!!!!)
If you want to incorporate Ackerman to stop your car from squealing like Frank Cannon's Lincoln on parking lots then the whole tie rod needs to be set further outboard (rack in front of axle) or inboard (Rack behind axle).
This is set my the position of the tie rod on the upright.
This point is found by drawing a line from the centre of the rear axle to pass through the centre line of the upper and lower ball joints on the upright.
There is more to it, but that is to do with slip angle and overall car set up and how you want the car to feel.
Another constraint is often the brake rotor, which can get in the way when you have the rack mounted forward of the axle.
I think I got it covered, but chances are if this is not something you are familiar with then it might as will be in Swahili.
