Hi,
I may have missed it; but, were you able to get an alignment report? Knowing the caster and toe-in would be a big help in providing accurate recommendations.
I only have experience with two Broncos (and a Jeep Rubicon), so you can take if for what it's worth.
Your last statement is pretty accurate, although even in the second picture the track bar and drag link aren't really parallel. Ideally you'd like those two to be as close to parallel as possible. (You'd also like them to be the same length. In the real world it's pretty tough to achieve both angle and length. I have been told that length isn't as critical as angle.)
It may be easier to tell in other pictures; but, is there a riser bracket for the track bar on the axle? If not, that would probably be the place that I would start, if it was my Bronco.
With the tires deflated, how is it driving?
Good Luck
Jeff