triangulated 4 link help

Unless you go with a parallelogram linkage you're going to have some pinion angle delta. That's OK as long as it is kept to a minimum. Which shouldn't be too hard with the small range of motion involved. Some pinion angle delta is preferable to the traits of a parallelogram.

Ideally the torque arm design will have a CVJ of some type at the trans end of the drive-shaft. It's pinion angle delta won't be seen by the pinion UJ, so all of the operational angularity will happen at the trans. Without a CVJ there the potential for some nasty vibes when not at the set height will be quite large.