Let me add this ..
A long arm should drive awesome , and I'm sure many short arms do as well.
A long arm seems to work well on the freeway ..if it's set up right.
Really pay attention to the back control arms ,mounts ,etc..that's where it's at.
Also , unrelated, check your 4wd shifter... especially in 4 lo ..the kit shoes some linkage parts possibly, or they may be for an auto...but lifting one creates linkage issues, Savvy transfer cases solve them.
Since it's a newer lift , the bushings/joints don't worry me so much , but something is wrong from what you are describing with the the way the back axle is moving .