If your truckbis squirrelly something is not set up or worn out. 6" lift on k5? Short wheel base changes the caster. Positive caster is need to keep the truck going straight, also helps the steering wheel return to center.
The factory style drag link should have a slight angle down from the pitman arm on the steering box to the steering arm on the knuckle.
These trucks are hard on ball joints. Check your tie rod ends.
Spring eye bushings,and frame bushings. Torque your u bolts, good idea to do this once a year.
Also the axle u joints can catch and give trouble steering, if old, worn,and dry.
Cross over is needed for very flexible off roaders,with big tires. There are times when crawling over a big rock you haven't got enough drag link left to turn your wheels.
Cross over isnt as effected.