You don't need Lazy Days for that kind of work. Adjacent to Lazy Days is
Gator Ford who might be worth a call. They're into trucks.
East of Tampa, out Adamo Drive, Columbus Drive, East Broadway, etc. there are MANY truck service places. Many have "Spring" in their name but many of those do suspension work and I believe alignments. I call that part of Tampa "Truck Town."
BTW, I agree with proper air pressure, load distribution, and all that. But I should add that the E-Series is rough on front suspension parts. Even with what you'd consider low miles, it's entirely possible that
1. Suspension Parts (Ball Joints, maybe Axle and Radius Bushings) and/or
2. Steering Parte (Tie Rod Ends, Center link, etc.)
could be worn out.
EDIT: Should add that IF:
Toe is OUT (negative)
Caster is LOW (mid-range or less positive)
Tires are Overinflated
Front Axle is Under-Loaded
THEN the RV will wander, and the first two will make it feel like the steering is loose. Worn parts will too, of course.
If you have it aligned DO have the shop set Caster to the high positive end of the range, NOT mid-range. It may take special bushings to accomplish that. If a shop can't discuss and maybe show you "offset bushings" go elsewhere.
I believe the Toe should be Zero (straight ahead) to slightly Positive (toe IN) also. I consider that to be as important as the Caster setting, but it's easier to achieve. Many shops will set only the Toe on a Twin-I-Beam Ford front end. You don't want that. Hence my comment about "offset bushings." You want all the primary angles checked and set. Set Caster High, keep Camber in range, and set Toe slightly IN.