Will, there are three basic motions going on under a car...
Yaw is turning, as in whole car goes thataway when you turn the steering wheel;
Sway is the car body/chassis moving straight sideways, that is parallel to ground, over its wheels/suspension;
Roll is car body/chassis leaning sideways over the suspension and wheels, that is body becoming not parallel to ground.
Obviously, most car movement involves combinations of the above.
Panhard bar is technically an anti-sway device, preventing lateral motion but not roll
The U-shaped across the car bars are almost universally called anti-sway bars but are not...they control ROLL and should be called anti roll bars. They can be hooked up to resist sway to a minor extent too by making links laterally rigid, but 99% of them are purely anti-roll
On Ford suspensions (pre-1942), it is critical that shackles at normal ride height be roughly 45 degrees to the world...as they move toward vertical from sagging or too long spring, they start to work like a hammock, allowing car to sway/swing from the shackles.
In 1942 or so, Ford went to long, more vertical shackles and soft rubber shackle bushings, but added sway/panhard bars fore&aft