I found that the ratchet strap method works great if you un-bolt the control arm from the axle, bolting in the frame side, then going after the axle to control arm bolts, you have a larger range of movement with the axle on a small hydraulic jack. Also if all bolts are loose, this allows you more freedom of movement. when ever we do a control arm exchange type of lift we bolt in the arms to the frame, then to the axle, then and only then do we do the track bar, leaving everything loose till its all connected.
In any circumstance you should never attempt to drive the jeep with missing control arms, your better off hiring a tow truck to tow it over, the chances of breaking a frame mount, control arm or causing an accident isn't worth the risk.