In the offroad world, the unimog's suspension is considered a radius arm suspension. in this, it uses two radius arms fixed to the axial, combined with springs to set the longitudinal position, and a panhard bar (or track bar) to secure the lateral position. The axial's castor/pinion angle is fixed to the radius arms and changes through the range of suspension travel.
The rock crawler is using a "triangulated 4 link" suspension. In this setup, the castor/pinion angle (usually) stays the same (relative to ground) through the entire range of suspension travel. The equal, but opposite, triangulated 4 links set both lateral and longitudinal position. There is no need for a "track bar". It allows the axial to move to extreme positions without binding in the suspension links and allows great drive line angles while maintaining tire contact with the rocks below.
Many of today's coil spring trucks use use what is know as a "5 link" system. It uses 4 links in parallel to set longitudinal, and one link (track bar/panhard bar) to set lateral. It is very stable and stiff for comfortable highway speeds. This system is not preferred in "rock crawling" as it lacks the desired amount of axial freedom.