Measurements for Dana 30:
Camber measured from brake rotors: Driver: -1.0°, Passenger: -1.9°
Passenger tube at differential: 0.1°
Passenger tube at control arm: 0.9°
My take is a bent passenger side tube, it's hard to see though.
I also measured the rear Chrysler 8.25 at the shock mounts:
Driver: 1.2° Passenger: 0.2°
By eyeball, one can't really tell anything, especially when the XJ is not parked on a flat/level surface. The correct way to check for a bent housing is to use a housing alignment bar.
Are any of the springs slightly collapsed?
What does the print out from a four wheel alignment check show? There are allowance for cross caster and cross camber.