One of the reasons a panhard rod isn't optimal is that it tends to move the housing side to side as it goes up and down. To lessen the effect you want a panhard rod to be as long as possible. I would attach it to the axle flange on the axle end if at all possible.
Or, if you want to eliminate the problem altogether, use a watts linkage.
They say there are no such thing as a stupid question.
They say there is always the exception that proves the rule.
Don't be the exception.