I found a crude way to make it work. I saw that the upper horizontal restraint of the inner leg was fixed length. I added a reference dimension to the outer leg sketch to find the height of the arc vertex, then edited the inner leg sketch to remove the upper horizontal restraint and added a driving height restraint to the arc vertex of the inner let. Now you can change the StorageHeight and the inner let follows the outer leg. A better way would be to reference the outer leg, but I spent a few minutes and didn’t find a way, so I brute forced the vertex height in the inner leg.
Thanks! I was able to replicate it until the point where I have to set the height for the height, I can’t choose the reference I made in the first step… 
What am I doing wrong?
I now just hard-coded it. It works.
Thanks so much! 
Yes, I had to hard code it as well. I use the part design workbench most of the time. Using a shape binder of the outer leg in the inner leg body would allow referencing the outer leg vertex. I tried that but it didn’t work. Maybe some web searches would explain how to use shape binder with the part workbench.
Pretty cool, has helped me out a lot, the table is nearly ready for manufacturing. I didn’t get the binder to work the last time I tried, though I followed a tutorial. That was 1.1 though.