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The 1st things to try are having an alignment, then adjusting the tire pressure according to the actual weight being carried.
On our 24.1 it drove fine by itself, but sway from passing trucks and gusts of wind were amplified while towing our Honda CRV. We just had front and rear sway bars and a Safe-T-Bar installed at the dealer. The technicians were blown away by the difference and I could drive one-handed on the freeway on the way home (not that anybody would do that)
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