There's more to it than just 4 link dictating whether or not it's streetable. Shock setup will also be a factor. If link geometry and shocks are tuned right, absolutely. Especially if a sway bar is ran. Biggest goal would be to eliminate as much body roll as possible.
Cherokee's come linked in the front from the factory sitting on coil springs
this is my sons truck we built while he was a junior in high school , leaf spring in rear but 4 link in front with a panhard bar,, drives great, we still have this truck, drives great and rides good to ,
this 02 silverado was a 4x2 , so it had a rack and pinion set up, we put a 4x2 steering box off of a 93 chevy , ford pitman arm and crossover steering, dana 60 front axle, with hydraulic assist also