I'm too tired to esplain. So here goes, with sarcasm at the end.
3 or 4 l7nk set up correctly will changer the pinion angle very little. From bump to full droop is .5 degrees of rotation.
If a radius arm is used setting the arm level at ride hight. Your camber and caster are at factory settings if it was built right. The the suspension is compressed, the pinion will rotate down. And vise-versa for droop. Therefore, caster and camber changes also. The shorter the arm, the worse it is.
Ever seen a TTB off of the ground? The cross arms work like your radius arms, and notice the tire angle to the truck.
Or if you are on a teeter-totter, you go up, you lean forward. You go down, you lean back.