When I jacked up the car, on the passenger side to replace steering linkage, both front and rear wheels were "lifted" off the ground. When I jacked the driver's side the rear tire "stayed" on the ground," Is this normal?

 

On concrete both times? Did you measure how far you have the jack up both times?
If "no" to either question, you are chasing your tail.

 

yes on concrete and on jacking pads.

 

I would expect differences in tire air pressure could influence that. If the tire pressure on the front driver side is lower it could compress and go down farther with the weight of the car on it from jacking. That would cause the passenger rear wheel to be higher. In either case, if you jack the car up high enough in the front the rear will eventually go up as well.