How does your rig drive? Have you thought about upgrades to steering and suspension or an alignment?
A lot of us have experienced the wandering and have done some relatively simple upgrades to mitigate the problem along with a positive caster adjustment.
Of course, all of that won't help you know how big your rig is or how to keep it in the lane (that'll come with experience), but at least outside factors like wind or a bumpy road, or a wandering rig won't be exacerbating the situation.
Before I upgraded to a steering stabilizer and a bigger sway bar, my rig could all but change lanes on its own. Staying in my lane, especially in a narrow-lane construction zone with those cement barricades, became quite the white knuckle experience. Things are MUCH better now and I can stay in my lane easily.
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-2018 Greyhawk 29MV
-2020 Jeep Wrangler Unlimited (JLU) (Primary Toad)
-1994 Jeep Wrangler YJ (Secondary Toad)
-2014 Jay Flight 28BHBE & Ram 2500 6.4L CC 4x4 (sold)
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