The two bars are not suppose to hit. If they do it hard enough, you will break them and lets hope that your still alive after it does a few flips.
"The farther the drag link is from parallel with the ground, the greater your bump steer will be. As others have said, how to correct it depends on what axles you're running.
If you actually are running SOA, PLUS 4" lift springs, you might want to think about going to flatter springs."