I have a book entitled, "Build Your Own Off-Road Buggy", by Ron Champion. It recommends a KPI of 10* inclined (as measured off the vertical). The spindle is built angled 10* down, so that when the wheels are straight, there is 0 camber. As the wheels are steered, the 10* KPI angle loads the inside front wheel. This is in conjunction with a 15* caster angle.
The above angles were designed with the following in mind
*Off road use, sand, gravel, dirt, etc
*Live axle, no differentiation
*The Ackermann angle is employed.
Cheers- Chris