A steering linkage assembly for a motor vehicle has a tie rod and a drag link connected to a steering knuckle in an over/under arrangement, with first and second ball joints for the drag link and the tie rod respectively on opposite sides of the steering knuckle and having a common axis that is located within an interior volume of a wheel supported by the steering knuckle. The coaxial, over/under configuration results in a ball joint assembly having a minimum axial dimension so that both ball joints can be located inside the inner rim of the wheel and as far outboard and as far forward as possible. The extreme outboard placement of the drag link ball joint maximizes the length of the drag link to reduce bump and roll steer sensitivity, and the forward placement maximizes the effective steering arm radius to reduce steering linkage loads while also improving packaging.