Technically, it will be off center with anything over stock. Ideally, the Panhard should be parallel to the axle with the vehicle at ride height. As the suspension cycles up and down during normal driving, the axle moves slightly one way or the other but it's very minimal since everything is starting from a "zero point". With lowering or lifting, the axle is located closer to or further away from the frame, putting the Panhard at an angle. This pulls the axle to one side, making it sit off-center at ride height so it's already starting out X amount away from the "zero point". Any lateral movement from this will be more pronounced and noticeable.
So, even though it may not be as noticeably with a lift under 2-3 inches, it's still there. If it's not enough to bother you at a 2-3 inch lift, then ignore it. Personally, I'd get an adjustable Panhard to not only center the axle, but because the stock Panhard is flimsy.
If you want to minimize the lateral movement of the axle as the suspension cycles (keep it moving as straight up and down with as little side movement as possible), then you will have to alter the mounting points of the Panhard so that it's parallel to the axle.
I'm sure this is all beyond what you're concerned with, so just keep it simple and get an adjustable one for the improved looks of a centered axle and improved stability of the stronger link.