Isn't the MT baja claws bias ply, if so they are horrable on road and most likely the biggest part of your problem. Alignment most of the time will pull it to one side or the other,not back and forth. And the track bar problem is a death wobble definatly not a floating issue.
Bias ply tires do not have steel belts,instead they have nylon belts. in some ways that is great others it is bad. the good is the do great off road. the bad is that they squirm on the road, as you are feeling now. The tread also squeezes closer together on harder surfaces leaving less room in the grooves for water,snow,and so on to get in for better contact to road surfaces. If you switched to ANY steel belted radial i bet your problem would be gone