I saw a picture of an F-series Ford with rack and pinion that gave me the idea. I would mount the end as far down the Tie rod as possible using a common design mounting bracket. For the center I was thinking, fab up a drop bracket to sit even with the rack. It would need to be removeable. For arguement sake lets say the width of the frame, down 3", away from the rack 3". That should be close to allow for articulation, and steering without interferance.
Just saw you have the FT. I would tie it into the drop bracket as well as the frame. I don't know about those rear bars though. As long as it is about the same height as the Rack it should work regardless of the lift.