Q: Do I need camber or control arms after lifting my Model Y?

Not required, but they help you get the geometry right. Raising the car changes camber and toe, and adjustable arms let the alignment shop bring things back into a tire-friendly window. Many owners add adjustable rear camber arms or a set of adjustable front lower arms with spherical bushings when dialing in the taller settings. At mild lift on stock links you can still get a solid alignment, so start there if budget matters.