The ES has vertical tubes that go down from the stick to 90 degree bellcrank's, then two more tubes out to another 90 degree bellcrank, then aft to the ailerons.  There's a crossover tube under the front seats to connect the two sides together.  The elevator is controlled by tubes that go aft from each stick to a torque tube just aft of the rear seats, then a single tube goes aft to an idler just aft of the baggage compartment, then another tube to the elevator control arm.

 

The IV is similar except the aileron crossover tube in behind the panel since the IV main spar is under the front seats.

 

A Legacy with side sticks?  I bet it could be done, but I would expect a ton of engineering to make it work.

 

Mike Easley