I have the Sonoran Steel track bar on my 4th gen and it allows me to center the axle, even with a 4" lift, which is critical to getting the darn thing to track straight. Non adjustable upper and lower rear control arms and all works great. Honestly, the thing always tracked to the right before the adjustable track bar. I have Metaltech long travel rear, too. The track bar keeps the driveline from rubbing the gas skids at full droop, which is priceless.
I have Icon front COs and personally think that their track bars and rear control arms are overpriced. I'm sure they are great, but not sure you are getting the full return on your $$$.