Update.
New tires, alingment/ toe and steering stabilizer. I cant get the truck to go into the wobble now. i have hit the same place that would cause the shudder every time before, now it holds steady.
The guy at the shop said the toe-in was a little out and the allingment was fine.
The truck still drifts(not as bad) and i still white knuckel it at every bridge, railroad x and pot hole.
Now i am geeting some white smoke sometimes even when i dont have a regen message. Happens mostly after long stops at idle(10-15min) It did it today and then messaged cleaning exhaust filter for 20miles