My truck has the dana 44hd ttb, with a 4 inch lift, and it was having problems also like yours. Things I found bad were
The bolts that hold the lift brackets to the frame were loose
The bushings where the arms attach in the middle were wore out
The steering box was wore out
The front shackle bushings hidden up inside the front of the frame were bad.
did you replace all of those? and did it fix it?