Just checked - I've got 051 and 084, the former is just the bare frame.
Fixing the Ackerman compensation really is just fine tuning. The main problem is the steering not being centre-point. This causes coupling of the steering with external forces in 3 ways:
1. When a wheel hits a bump it steers.
2. During steering, there is an additional displacement of the boom relative to the ground. ie. displacing the boom causes steering.
(If the trike is steered while stationary, you can see the boom move from side to side. Alternatively, you can move the
steering by moving the boom from side to side while stationary). This provides a good pendulum!
3. During steering the wheels actually move closer together. This was very pronounced on my first frame. What this does is store elastic energy in the tyres/wheels/frame which adds to the force due to trail that try to turn the wheels straight.
The whole system is primed to shimmy, particularly if you use an extra long boom as I do. You've got a massive pendulum which is coupled to the steering, which is coupled to road surface irregularities. The only way to stop the shimmy is with centre-point steering (which decouples the steering from bumps etc) and/or adding in enough friction to damp it out, as the bushings may do.