First off sorry to hear about the truck, and glad no one was hurt.
I'm surprised no one has mentioned loose/sloppy steering as a potential contributor here. With maybe 5-10 degrees of slop between the steering wheel engaging from one direction to the other (as I see on my 94 with 210k+ miles) it takes some finesse to get around sweeping turns in a smooth manner. I am guessing that is just par for course with older high mileage vehicles. As an example when going around a sweeping right hand corner you need to carefully control how much rightward pressure you have on the wheel to keep desired track; turning wheel to provide left input and then hooking back up in right turn results in a lot of back and forth swerving. I noticed this exact thing when my wife drove a stretch across the Sierras on I80 (staying within the lane but constantly going between left and right stripes). I am thinking that you combine new/inexperienced driver, sloppy steering, and high COG and this is what can happen...
Mine has zero slop in it and it has 269K on it. I have replaced the tie rod ends in the last 48K miles.
Check your knuckle studs on the lower right knuckle! This is VERY important! I had SLIGHTLY loose steering and discovered that 3 of the 4 studs were MISSING and the last one was about to fall out (only in about 2 turns yet) I tightened it back up as best I could and drove very gingerly home. It still had less slop than every other solid axle 4x4 I've ever driven, so I didn't think there was a problem.
Your truck should NOT have that kind of play.
Knuckle Studs
TRE's
Steering Gear
Wheel Bearings
Track Bar Bushings