The stock XJ steering works and that is about all that can be said about it. The WJ steering is not only more robust, it flat out works better.
Camber. Yes indeed you will need to address this. If you have a chance, catch the next Formula 1 race and look at how much camber those cars run. The purpose is to get a better bite on the road when cornering. A tire that is standing straight up will want to slip on the road. On a two wheel drive XJ there is another option to cutting the axle and that is bending the axle.
Now, before anybody calls me crazy (I am, but that is not the point here...) bending the axle is exactly how camber was set back in the days of solid front axles. Finding a shop that still has the hydraulic jacks may be another story. I had to use my local Ford Dealer to setup my 1952 F1 truck as they were the only ones in town (at the time) that still had the jacks tucked away in a dark corner...
Caster. IMO, I would look into a set of adjustable control arms to control the caster. Not only will this give the best possible method of adjustment but... As long as all four are adjustable, the axle can be set perpendicular to the chassis. Out of the box, there is no method to properly position the axle, you just have to trust the control arm mounts.
Speaking of mounts, you might consider reinforcing the axle end just to be sure of them. Autocross is far and away from what the designers had in mind when the XJ was on the drawing board...