When I was figuring out my rear suspension I came to the conclusion that I had three options on the suspension geometry. First, I could sacrifice the geometry I wanted to fit within the design of the vehicle. Second, I could build the geometry I wanted but the lower control arm mounts would hang down several inches below the bottom of the frame rail. Or third, I could build the geometry I wanted and have the lower control arm mounts be roughly flush with the bottom of the frame rails, but my upper control arm mounts would be inside the vehicle. I went with option three. Here is one of my upper control arm mounts, and a rough cut of where the upper control arm passes through the floor.
I cycled the suspension and cut away everything the interferes with the travel of the suspension link. I will build a sheet metal "tunnel" to cover the control arm on each side. The tunnel will be welded in under the seat, and bolted in the back seat foot-well area so I have access to the control arm bolts. The control arms do not interfere with the seats, and there is plenty of room on either side to put your feet, so it doesn't really impact passenger comfort.
It looks like I welded a plate to the floor, and welded the control arm mount to the plate, but I actually cut notches in the floor on either side of the "frame", placed 1/4" plates up through the notches and welded them to the frame. Then I welded the plate you see to those 1/4" plates. Essentially I created a short section of completely boxed frame and welded my control arm mounts to that. Here is one of the side plates to help visualize what I did.