Drop pitman arm

[4x4junkie]

Lower the height of your lift or swap to a custom steering linkage that matches up better with your lift.

 

[SWIDDY25]

So really these are my only 2 options, i thought alot of people on here were running the 6 inch lift with 33's and the extreme drop arm and had pretty decent steering angles, i'm pretty bummed out

 

[4x4junkie]

To be frank, the arm that is on your truck does NOT look like a FA600 arm to me. You're saying you measured it and that the end of it is 7" below the frame (which would be 4" lower than a stock arm would be), so I don't know what else to tell you other than that yes many people do infact run the FA600 arm on a 6" lift and do have acceptable performance with it.
The first arm pic you posted seems more like a FA600... If it is (and the one on your truck is not), then it should be plainly obvious that it's a way bigger arm (much like as in the examples alwaysfloored posted).