So. Based on your photos, the rear pinion actually looks a little high. I would expect its angle to be slightly less (say, 2 degrees or so) than the driveshaft, at normal ride height. Though it's not that far off. Since I lifted my Bronco decades ago it's always been sensitive to rear driveshaft condition. Being a mechanical engineer nerd with an iPhone I use an app called Vibration that helps me pin down where the dang vibrations are coming from. Yeah..

Luckily there is an excellent driveline shop near me and I tend to let them inspect and repair as necessary on my rear driveshaft annually.
Let's move on to the front. The photo you shared makes it look like you have a lot more, like 6-8 degrees more, than 2 degrees between the pinion and the front driveshaft. The good thing is that the pinion is low.
Now on to my diatribe(s).
Stock, early Bronco were spec'd at around 3 degrees of caster. That is marginal, as in barely sufficient, for street driving. It was a compromise. When they were first brought to market, power steering on such a vehicle was optional at best, if it was even available. The more caster, the more difficult steering at low speeds gets. So, back it off as much as one dares as a compromise. That compromise being wandering steering. Note that older Broncos had a red stripe above around 60 mph on the speedometer (I don't remember the exact number but my 1970 has it, which is a source of amusement for me these days). Early Broncos got power steering, first as an option, then standard, in the early 70's. But Ford never changed the caster spec. When the first big Broncos came out in 1978, the nominal caster spec automagically changed from about 3 to about 5 degrees. Because at that point, power steering was standard, so the engineers could increase the caster spec in favor of stability (not wandering) without concern for needing Popeye arms to steer at low speed. Point being, 5-6 degrees of caster is your friend, if you like traveling in a straight line without having to focus on it constantly. Check the caster spec for any late 70's and on live front axle vehicle. 6-ish degrees is the norm.
Speaking to quality control at Dana. My Dana 44 was a poster child. My 1970 was built with a Dana 30, but I discarded that within months of buying it in 1996 in favor of a Dana 44 from a local junkyard, back when that was still a possibility. Used OEM (could still buy them from Ford back then) rubber C bushings. Handling was frightening. Stock height, no lift, no mods of any kind. I brought it to an alignment shop for a check. Oh joy (though I didn't grasp what the numbers meant then) it was +1 on the left, 0 on the right. It should've been around 3 degrees nominally on both sides. What did I know?
Lifted my Bronco later, used the typical 7 degree bushings that never seemed to give 7 degrees of caster and screwed up the pinion angle, hated the wandering.
Then around 2003 on this site someone posted about cutting/turning the inner C's to get the caster correct. I bought and installed a set of 2 degree bushings, had the alignment numbers checked to get a baseline. This is where it gets tricky. Going back to 2 degree C bushings pointed the front pinion exactly about 2 degrees low with all that, which is close to ideal. I pulled the front axle, then cut/turned the inner C's to get 5+ degrees of caster. In 2001 around here there were no shops that could/would do that, now there are several. It was a huge PITA. But what a difference. Currently, 6 degrees of caster, 3/8 degree toe in, +0.5 degrees camber both sides. Metric 35" tires on 17" rims, I can let go of the steering at 80+ mph and it tracks straight.