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John,
You are correct. Beam axle stuff gets really difficult due to geometries. Roll center height, toe changes, torque reaction, etc.
I really do not have a lot of experience with beam axle cars as most all of my time has been been spent with formula and sports racing type chassis.
I have found that the setup basics as I described still work, but the data for spring and roll rates is very much different than a IRS.
(Of course there is the old long parallel radius arm high camber change IRS design, which would make a beam axle look easy.)
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