I presume you lifted the truck what looks like a bit more than a couple inches?
What your feeling is the suspension cycling in a portion of its suspension stroke that causes lateral motions to the chassis and directional instability caused by toe steer.
The rear in particular, when lifting puts the panhard bar at a steeper angle. As the panhard bar cycles to allow the suspension to compress and extend, it is literally pushing and pulling the body side to side relative to the axle.
View attachment 2075843
At the front end, the control arms are also at a steeper angle. As the suspension travels, the tire moves side to side more. Producing lateral instability. Lateral loads (i.e. turning) will results in odd jacking and compression forces upon the suspension. Complicate this with the steering rods also at steeper angles, now causes toe steer (tire steering ever so slightly) as the suspension cycles.
View attachment 2075848