Well.. first there shall be enough space for the so-designed suspensions to work... and then work on the suspension geometry as a function of body roll and suspension travel to determine the angles - camber, caster, KPI, etc.
Depends upon 1. packaging (wheel enveloping thru the range of suspension travel), 2. suspension geometry and bushing selection to meet kinematics and compliance targets to achieve desired understeer, 3. ride stiffness and damping tuning to meet ride quality targets, 4. component sizing to meet durability requirements.