at 6:30 it makes it seem Riley has not seen Parallel Kingpin trucks like APEX AIR, PSYCHOFRAME and possibly PARALL also…
Raising COG is an interesting proposition. I guess I would want to clarify you mean the Raising COG to be of mechanical linkage to the steering of the truck? You could put a truck lean sensor and hook it up to a gearbox driven version of the PSYCHOFRAME suspension as a drop in solution to the current 3-Link/PKP design.