Some thoughts: increase your tire pressure, 32 is a tad on the low side. I run mine at 35-38, others even more. Adding traction bars will do more for axle-wrap/wheel hop than anything, but could help the rear feel a little more solid. A rear anti-sway bar could also help out. But I think a major issue is this:
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this is my first leaf spring equipped vehicle.
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Hard to compare the two. I think most folks that have driven trucks their whole life will say the Titan has a very good stability and road manners. FWIW, I have the PRG traction bars and love them, but I didn't buy them for any of the reasons you mentioned.