I went through this a year ago with my father's 90 4runner, was looking to get rid of the issues you mention. Here is what I did to the truck:
- new factory shocks all around which helped immensely but Bilsteins probably would have been a better call.
-new drivetrain mounts(trans & motor) which helped the truck track much better under load or acceleration, less vibrations and noises, etc...
-rebushed all the control arms(front & back) and sway bars with urethane bushings from
Suspension Restoration Parts Co.. This really improved the cornering and stability at speed.
-installed MOOG rear coil springs
-installed 25mm sway-a-way torsion bars and all new ball joints(upper and lower)
After the afore mention parts were installed, it really transformed the truck into a for more precise and useable vehicle in all demensions. You might check to see if your truck is due for the steering relay rod recall which tightened up the steering a fair bit.
regards