Mumford Linkage
Mumford Link rear end is the only lateral link you can have on a live axle rear end type suspensioned car that lets you have the roll centre as low as you like,

In a Mumford Linkage. A and E are shown attached to the axle, this time, and points F and J are pivots on the chassis AB, DE, DJH and GH are straight links. BFG is effectively a bell crank.

The beauty of a mumford limkage is that the virtual point C is your roll centre. The astute will quickly recognise that if you shorten the distance AE, the roll centre rapidly disappears into the ground and below... and you've kept a fair chunk of your ride height too. Actually, putting the roll centre below ground is a bad idea for a number of reasons, but it is feasible to lower it as much as you like as long as it is higher than the front roll centre, which feasibly can go to the ground or a little below. How much you want to play depends on all sorts of things like your effective spring weights, overall weight and weight distribution of the car, ride height, tyre widths and so on and so on.

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