If the truck used to ride well, but no longer does - I'd start at replacing the shocks/struts, and checking every joint and bushing in the suspension for play.

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Thank You!
Fred
2009 ML350
2004 SL600
2004 SL500
1996 SL600
2002 SLK32
2005 CLK320 cabrio
2003 ML350
1997 C280 Sport