Here's a good write up to help better understand the various handling issues and their solutions.
http://www.rvforum.net/miscfiles/MH_..._%20Primer.pdf
In the case of my class C, it seems to mostly be an issue coming from the leaf spring rear...so a track bar seems to be the most direct way to address it.
but
once i had an alignment done and set the steer axle tire pressures a bit lower based on actual measured weight, I find the handling now to be acceptable.
Also, I do like the idea of these 17.5 inch wheels
https://ricksontruckwheels.com/wheels-ford-e350450.php
since my rear axle is at capacity, and sometimes probably over...
I just haven't pulled the trigger....
for the dragging rear.... I've just learned to live with it. Attack hills at an angle, etc... I've only had a couple times when it really dragged hard....mostly I've been able to avoid...but then I live in the flatlands....