Better vehicle control is always beneficial. There are several specific problems to address.
Excessive lean in turns, porpoising, yaw, and general wallowing all contribute to that disconnected feeling while try to aim down the road.
Each issue has a specific set of solutions.
Front and ear sway bars are a good start, but then you should consider other upgrades including; track bars to limit lateral axle movement; steering control unit to help maintain straight ahead steering in cross winds, tire blowout, etc.
Each addresses one area of concern and the upgrades are cumulative: Each adds a degree of improvement, and can be an incremental step.
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