First of all, the advice above is correct except you don't need to go spend a bunch more money on an integrated sway control hitch. When we just need to set up the one you have correctly.
We can "probably" get yours dialed in,
We need to know a few more facts... You gave us the facts on your truck, now we need the same information from your trailer.
The number one and number 2 cause of trailer sway is insufficient tongue weight and too light of a front tow vehicle axle.
The second sway bar on the other side of the trailer is needed but will not solve your bad set up. Fix the WD first then we can worry about the friction dampeners. (Once set up correctly it will pull better)
We need more details about the trailer first...
Thanks!
Jeremiah