I wander wondering.
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I would advise that in addition to checking the suspension bushes on the radius arms and panhard, you should also check the rear "A" fame ball joint, including the mounting plate on top of the diff is secure and the bushes on the frame are serviceable.
When looking at the weight on the roof rack and if changing the shocks, you should consider the types that include coils around the shock tube, these will counteract body roll and reduce the wander.
Maybe something as simple as moving the roof top tent as far forward as possible and putting the tool boxes inside the truck would be a good start.
Also keep ALL the heavy items packed between the axels instead of hanging everything over the arse end will vastly improve the handling [thumbsupbig]
The suspension May need to be looked at as it is a fairly old vehicle But even if it was brand new it would still drive like a Pig the way it is set up [bigwhistle]
Plenty of vehicles with roof top tents out there, and plenty have them over the rear axle. I have had more weight on my roof than that and barely noticed the difference, but all my suspension components are new and my tyres are wider than those.
I also have a heavy arb rear bar, which has a 33" tyre and rim and a 20L jerry hanging off the back, drove no different when i had removed the bar for mods to it.