On my car, the IRS was installed by the factory. The installation of the upper A-arms left a lot to be desired to say the least. Turns out the factory had installed undersized control arm bushings and to compensate, overtightened the mounting bolts, bending the frame tabs, to close the gap. As a result, the bushings bond up and the suspension wouldn’t even move. Very shoddy work. Since correct size bushing are not available (probably why the undersized bushings were installed), I ended up having to buy oversized bushing and trimmed them down to fit. This was a lot of work. With the new bushings installed and lubed, the suspension now pivots as intended.