First, post a picture of your front end CV's and how much angle they have.
Do you DD the truck? I had HD tie rods and cognito braces on my previous 2 dmax's, but went with a straight centerlink and sleeves with my regular cab and it feels much stronger. I can leave at 15psi and break all 4 tires loose and steering wheel doesn't move an inch.
First step would be lower the torsion bars all the way down (if stock)