Yeah. replace the springs with links extending from the front spring hangers, bolted firmly onto the beam axle. No need for a Panhard rod.

This would also use the axle/links as a sway bar.

I have some thoughts about caster, it'd be a balancing act, set it for the desired caster at ride height.

Or you could use a 4-link, think about it for a while, have to keep the axle from moving sideways.

R.