The finish picture does show zero caster (vertical kingpin bolt), but you just weld the spindle brackets on differently than they did for caster. They held the brackets vertical so the kingpin bolts through them were also vertical, then welded them to frame.
All you have to do is weld the brackets to the frame with them tilted back (top tilted toward rear of kart) a little for caster, to make it go in a straight line without a nonstop fight making you crazy. Straight line or straitjacket, your choice.
Here's my briefest Ackermann school: Have your spindle brackets welded on already (with caster), spindles in the brackets, kingpin bolts dropped into them, and wheels mounted. Line your front wheels up perfectly straight. Tie a string to the exact center of your rear axle. Stretch it tight towards either spindle, and on further on with the head of the kingpin bolt passing directly beneath your string. Whether your spindle arm (where tierod attaches to it) is leading ahead of or trailing behind the kingpin doesn't matter, wherever the bolthole in the spindle arm is to be positioned and welded is in the same straight string line as the kingpin is.
One straight string line should, from the rear axle's center, pass dead center over the head of the kingpin and dead center over the bolthole for the (leading) tierod in the spindle arm. Or vice versa for a trailing arm. Repeat on other side.
Note: You'll see how spindles like mine with the spindle arms and spindle axles being welded on 90 degrees from each other at the factory cannot have any Ackermann angle. I had to remake my tierod attachment points to put them inline with the string.