Check ball joints for sloppy play or stuck in place. If the need to be changed then you have to pull axles, usually Axle U Joints need repair and at that point new axles seals... for rear, axle seals and maybe one piece conversion
Had issues with using factory skid on “Project Blue” which has a Mopar RFE545 and NP241OR. I ended up using TDK Skid because of my limited fabrication skills. This link might give you some ideas.