I used to herd mine down the road like many others. It now drives like it should. There were several things I did pretty much all at once that got it on track---so to speak. This was not all I have done but these are what I believe made a good final result. I put as much positive caster as I could get. When I replaced the vacuum pump I also adjusted the steering box per the FSM. Both adjustments, and it did take up quite a bit. I also made sure everything was tight, replaced the axle end track bar bushing with a poly one and had 285/75x17 very stiff sided wall E rated Nitto Dura Grapplers installed. It drives like one would expect and it still has original ball joints and wheel bearings @ over 188,000 miles.