Two things:
1: The rear end alignment needs to be squared with the front end. Sometimes the rear wheels can be aligned square with each other, but not square with the front. This can create "dog walking", which can give this feeling.
2: you may have a blown bushing on your lower control arms or elsewhere within the suspension unit that appears visually ok, but when load hits it, it shifts.
I know the exact feeling you're talking about and it's very scary.
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