Bob,
As far as I can tell the basic geometry - arm lengths and roll centers - were not changed at all during the entire MK1 and MK2 runs. I think that the MK4 used the same hub carriers, but the geometry was changed at that time.
On the ERA, we lowered the roll centers a bit and lengthened the theoretical swing axle radii to make the geometry closer to the MK4, figuring that most customers would use pretty wide wheels.