Detroits can get a little squirreley if the tire pressure/size isn't even on the same axle. On pavement I can tell when a tire is a little low. Or if you accelerate on a tight turn. This is to be expected.
But if you are twitchy while general driving I would look someplace else.
1st suspect is toe in, you want 3/16"-1/4" at mid point of the tire outside diameter. measure the difference between the front of the tire and the backside of the tire.
http://www.bcbroncos.com/alignment.pdf
Next suspect is the trac bar bushings especially at the frame mount. Get under the truck and have some one move the wheel right and left without the engine running and parking brake set and or tires chocked. as they bounce the wheel back and forth until they feel firm resistance from the tires. As they do that look at every steering system connection point. start at the coupler for the steering column, down to the steering box, the steering box to the frame, down the steering arm to the drag link down to the tie rod ends. check the trac bar to the frame and where it mounts to the front axle. Anything that doesn't move solidly with the motion of the steering is suspect. Any delay in motion or wiggling about will be self evident.
if your steering box is loose to the frame check the frame for cracks. If you still have the old rubber suspension bushings for the axle mounts time for some new ones. I prefer to use replacement urethane bushings and would use 6 or 7 degree set if you have any kind of lift. Stock to 2" lift can usually get away with a 4 degree bushing set.