If you think it's tough with a full size Ford truck you should try it in a Jeep Liberty with a 3800LB TT! As mentioned above by DesertHawk
All stowed weight in trailer is kept forward of the trailer's axles (we've even removed the bicycle rack from the rear bumper), reduced travel speed (no more than 90 Kph / 55 Mph) we have 1 anti sway (friction type)and I have tried the hitch in every reasonable position (yes, we have plans to replace our Liberty with a more reasonably sized tow rig).
What also made a significant improvement was replacing the tires on our Jeep. We recently replaced the worn OEM Goodyear tires with a c rated BF Goodrich AT - they hold the road much better and so far exhibit a strong reduction in sway.