Hey Mick,
your on the money for disconnecting one end of the upper control arms to make adjustments.
quick castor check on level ground at 3.5", the face of the flange at the back of the front diff should be close to vertical, that will have you at about 6deg of castor.
If you need to make adjustments, do one at a time. use a jack under the diff to assist in rotating it into position to line up the control arm to bolt it back in.
if the castor is correct and still wanders. something must be loose or have play in it, try the grab a friend trick and get them to rock the steering wheel back and forth while inspecting all the steering components.
still no joy, wheel bearings and ball joints can do some tricky stuff, give them a good look with the wheels off the ground.
sounds like you have had a bit of experience with DW, so I prolly just told you stuff you already know.
Cheers JJF
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