That said, you could off center our rear axle quite a few degrees from a 3" lift and you won't see any real help. You simply have a bad front end alignment. Most alignment shops don't want to start over with your cams, so they just move one or two around till they get green lights, aaaannnd good!
I'd bet you don't have enough cross camber to the left to compensate for road crown (which the old timers say you can't plan for, but I say at least try) and some cross caster to the right.
The alignment shop I went to is awesome. They do nothing but suspensions and alignments and specialize in track cars and lifted trucks. It's two guys (one who is probably 60 and owns the place, and a second ASE-certified suspension guy who has been doing this for 10 years). IIRC he said he set the front right caster as far positive as it would go, then set the camber as far negative as he could (which was still almost 1 degree positive). Left camber was set 0.5 degree lower to compensate for the road crown, and left caster was set as far positive as he could reasonably set it while keeping camber within spec. He said he also set the toe closer to 0 as he could since the A/T tires are heavier and stickier. He definitely had to pop the cam bolts loose to adjust them. Here's the printout:
If you have alignment specs you'd recommend for my truck let me know and I'll get him to readjust. I'm going to put a set of SPC UCAs on since I want more caster and a bit less camber, particularly for towing (which is probably half my driving every year), since my steering feels a bit loose when I'm loaded way down, so I'm going to need him to realign anyway.
Since you talk about different length driveshafts causing torque steer, that makes me think the issue is related to my lean. The left side is higher, so the CV angle on the left side is steeper. Not sure if this is right but I'm envisioning walking around with my left shoe on but not the right one - leaning to my right because my left leg is longer, and consequently my left leg is pushing me to the right. Tony, I assume you don't have any issues with your truck pulling under acceleration? My pull is definitely stronger the harder I step on the pedal.