You do not have the right arms for perfect Ackerman. Those arms look to be perfectly straight, as in, the centerline of the four bolt pattern follows the centerline of the arm.
Ackerman is generally determined by the following process. Draw up a sketch of your two axles, as viewed from above, including the kingpin centerline locations. Now draw a straight line from the very center off the rear axle, though the kingpin pivot center. For perfect Ackerman, your holes for your tie rod need to be located on this line. If the your rod is in front of the axle, then the holes would make for a tie rod that is longer than your kingpin width, which sure doesn't fit between your wheels, tires, or brakes. If it's behind the axle, the your rod must be narrower than your kingpin width, which rarely gets along with suspension, engine, frame, and the pinion of the axle itself.
In short, it's a very difficult thing to nail on a crawler, and it very rarely actually ends up being perfect. Unless you are actually sitting down and looking at slip angles, scrub radius, and a slew of other factors related to your steering, there are more important things to focus your energies on. If you are solely focused on Ackerman, you are overlooking more important factors.
It is possible, but d@mn hard to physically package under a crawler.