I owned a 1/2 ton Yukon XL Denali 6.2 and paired it with a Hensley Arrow halfway through the first camping season (I was towing a 7800 lb TT). Originally I had a Blue Ox Sway Pro that did nothing to remedy sway conditions in high cross winds. I found a solution with a HA. It eliminated all sway in all driving conditions, no adjustments needed. No modifications to the truck either except for an additional trans oil cooler. Even ran P tires on it.
Unfortunately, the aging Denali and limited payload had me looking for a new truck the following season. Payload sucks on 1/2 ton SUVs. HA will eat 200 lbs of it. Within 6 months, I was the proud owner of a new 2017 Ram 2500 Megacab.
I did experiment and towed with my Blue Ox SP and the new RAm. I could still feel the minor steering inputs required to keep from inducing sway. With the Hensley, there are no inputs required with either vehicle. The trailer just follows the path of the TV's drive wheels, almost like the combo is one unit. You feel slight nudges (similar to driving a car in high winds) but absolutely no unpredictable sway. My wife drives 1/2 the distance to our camping destinations, none of which are less than 200 miles, some are 2000 miles.
To the OP, your Hensley should provide you with the most comfortable towing experience imaginable for a pull behind. It did for me and most other Hensley owners.
Something seems askew on your setup. Hensley provides great customer support. They setup my hitch to my RAM as I live within 30 minutes of their factory. You might want to revisit the Hensley setup.