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There are heim joints on the ends of the control rod to allow for misalignment. Go ahead and bolt it up solid. There will be little if any movement and it will do the job for which it is intended perfectly.
You should use a washer under the nut for a number of reasons. It will keep the nut from scarring up the chrome parts, it will supply bearing surface to help even out the forces from tightening the nut and it will lend to the smooth lines of the assembled parts.
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