Which component pairing forms the two main supports in a parallelogram steering linkage?

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In a parallelogram steering linkage, the center link is supported at its two ends by arms attached to the steering gear and the frame. One end is connected to the Pitman arm, which converts the steering wheel’s rotation into linear motion that moves the center link. The opposite end is supported by the Idler arm, which anchors the center link to the frame and keeps the linkage geometry correct as the wheels steer. Together, these two arms form the two main supports of the parallelogram arrangement, allowing both wheels to move in coordinated fashion as steering input is applied.

The other components mentioned don’t provide these two opposing supports: rack and pinion is a different steering system, upper and lower control arms belong to the suspension rather than the steering linkage, and the tie rods and center link are parts of the linkage but aren’t the two main supports that define the parallelogram geometry.