The thing you are addressing when torquing them "at ride height" is the control arm bushing "zero point". That is, the point where the bushing is completely relaxed and not twisted. That "zero point" should be the point at which the bushing rides at most often: ride height. As the suspension fluctuates in either direction (compression/droop) the bushing is twisted, which is normal. However, if the zero point is set at full droop (ie: on a lift with the wheels hanging at full droop limit), then the bushing will almost never be relaxed. It will be very twisted at ride height and during compression (hitting a bump, fast turn, etc) it will be twisted even further - far, far beyond the amount of twist that it should ever see.
Key item = the "zero point".
So you can tighten the inner bolts with the wheels on the ground, or on an alignment rack. Or on a regular lift with a jack under the upright. You could even measure the angle of the control arm at ride height (your car's specific ride height) and then duplicate that angle upon install, tighten the inner bolt, THEN connect the ball joint to the hub assembly. However you want to do it, as long as the zero point gets set reasonably close to the actual ride height. The bentley manual even shows the specific angles for a stock car when doing the upper control arms. Of course that all changes if you've lowered it.
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