The 4 link geometry isn't perfect on an XJ. If you put solid bushings in and braced everything so no part would flex, the suspension would only be able to flex maybe an inch. It could move up and down, but move one side up and the whole thing would lock solid. The stock rubber bushings give the slack the system needs to move. The "junk" factory arms are supposed to twist. That's why they are a modified "C" channel cross section, and not fully boxed. This allows the suspension to move without greatly twisting the bushings side to side, or overloading the control arm mounts.
Replace the arms with heavy tubular arms with poly or flex bushings at all 8 points, and you have removed all the give in the factory system. Now, the flex is transferred to the frame side lower control arm mounts, and the passenger side axle end upper control arm mount on a non-disco axle. These points will eventually fail.
I don't like poly bushings. They work pretty well on street cars. They do tighten up the suspension. For an off-road vehicle, you need the flex.
While I agree that anything wheeled in the rocks needs stronger lower control arms to prevent impact damage, I wouldn't flat out say the factory arms are junk. They're actually pretty tough as long as you don't bash them with rocks.
Factory arms, no modification allowed per class rules. Bent the whole front end, including moving the spring towers, bending the bump towers, contacting the engine with the upper control arm axle mounts, pushed the antisway bar links through the inner fenders. Never damaged the control arms.
You can also see what looks like a funky shadow on the beam axle truss, which makes it look bent. It's not a funky shadow, the truss took a hit. Bent the truss, didn't damage the control arms.