I have adjustable upper and lower control arms and I was wondering what is the best way to adjust the upper control arms? I am trying to set the proper pinion and caster angle and was wondering if i had to keep removing, adjusting and then re-installing the control arm until it was at proper length to set the angles. Is their an better way to do it?

Don't bother unless you need to move axle forward or aft. Or your lower ctrl arms are out of travel.
It's hit and miss when adjusting. One at a time, check, re-adjust, check alignment vs pinion angle

CASTER preferred + 7.0°
+ 5.25° to + 8.5°

Alright sweet so just measure, unbolt one side of upper control arm, adjust it, bolt back up, do other side, and measure again ?

Got it. Long and tedious. They won't come in exactly the same on both sides. (Axles are not all created absolutely perfect) Try to get both within the range.

I asked the same question last week and another member posted this chart and suggested I adjust the control arms to whatever length depending on how much lift, I haven't gotten around to mine yet though.

Use chart at bottom its pretty darn close...http://go.jeep-xj.info/HowtoAlignment.htm

Alright will do thanks!

i tried to use this chart and my control arms were all 1 1/4” too short

The charts cannot be that far off. You set the prescribed distance based on your lift measured from eyebolt center to eyebolt center. Then install lower arms. Then set the upper arms same way...install frame side mounts. Now rotate axle with a jack until you can get the axle side bolts in. You should be in the ballpark now. Thats how I set both of my jeeps with a 3 inch lift and have not had any DW's in 300-400k. Then properly install and adjust your adjustable track bar. I think I used the lower sway bar mounts to jack up and twist the axle to get the bolts lined up