https://www.amazon.com/Automotive-Handbook-Robert-Bosch-GmbH/dp/1119530814
This book was gifted to me whenever I went to PCNA ATL to train to be a Porsche technician and it's given me so much knowledge that I never knew I needed when I was starting out, highly recommend it but it's a bit pricey but so worth it
I haven't paid much attention to using to to try and design off-road suspension, but a great place to start is the Miliken text book. It has a good introduction to suspension dynamics and design even though it is a little dated. Still very usable though.
Also most of the backyard mechanics building their own have no clue what they are doing. You can certainly teach yourself and design something pretty good. Once you get the design down then your next step is figuring out ride and roll rates of the vehicle so you can figure springs and sway bars.