Squishy and floaty ride

You set the tire at a designated pressure and run a chalk test. When the chalk is removed evenly across the width of the tire you found the optimal tire pressure.

Sorry, my response was kinda rhetorical. Sure, go to Walmart and grab a box of chalk, then do the test......day gets hot and you drive.....or goes cold.....get where I'm going.....going by feel, is my best gauge. Easy in town. You can adjust on the fly most anywhere. Beating the backcountry not so much.
 
You set the tire at a designated pressure and run a chalk test. When the chalk is removed evenly across the width of the tire you found the optimal tire pressure.

x2

I’ve also been on a dirt parking lot or anywhere that has dirt it can be a park even. Drive on the dirt for a few get out check where the dirt is on the tires.

If it’s only on the center then to much air!

Heck I even noticed on wet floors when washing my Jeep.
 
Step #1, before proceeding with anything else, grab a torque wrench and go over everything suspension related.
 
I got some, pull up a chair

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Stock tire size 36#'s air, tight steering. I'm stumped.

A squishy, wandering ride: shocks and tires are the major cobtributors to ride quality. The squishy feel is likely due to shocks. For tire pressure follow the door jam not the sidewall. As the tire gets larger the psi requirement lowers. Most here with stock tires run around 31psi.

The wandering feeling is likely due to something in the steering system. Do a dry steer test with your hands on the components. Find the culprit. If everything is 20+ years old it probably needs replacement.