You shouldn't be seeing much if any bumpsteer with or without a lift with stock components.

The tie-rods are still traveling through the factory defined arcs.

If the steering wheel moves when you go over a bump, and the wheel/tire [b]only travels vertically[\b], then that's bumpsteer.

If the steering wheel moves when the wheel/tire [b]hits a rock on the trail[\b], that is [b]not[\b] bumpsteer, that is a rock moving the wheel, thereby moving the steering linkage, and the steering wheel. It's not bumpsteer.

With worn components, bumpsteer on the street is very bad on my Xterra. With new stock components it is almost non-existant.