Your video looks more like bump steer and the truck is also wanting to follow the crown of the road "down" towards the shoulder (an alignment may be in order). When I replaced all my steering--from control arm bushings to hub bearing assemblies, with a 6 month old Oreilly steering gear, it didn't help the steering as much as it should have, and this truck has been in the family since new--so I have a reference point to work from. Upper Moog ball joints began dying at the 10k mark and I installed Proforged uppers. By 20k the lower Moogs were dead. Installing MevoTech TX's lower BJ's helped the steering more than anything else. I am very tempted to pull the Proforged uppers and replace them with MevoTech TX's too.
Since then I have installed ANOTHER Oreillys steering gear (replaced under warranty) and the third time this one actually steers pretty good. The previous two Oreilly gears became loose by 10k, and didn't steer very well from the get-go.
BBB/Vision makes a brand new steering gear (not reman), and I have heard good things about it. I have one sitting in the shop because I expected the OReilly gear to die by now.......