You could be having glitching issue's. That could be from something like a bad Rx, cut wire, batt pack not fully charged, bad plugs, etc.....
This will cause your truck to act erratic like "twiching" or the motor "stuttering".
Alos check the EPA's on your radio. Try to adjust them to see if the "shaking" goes away. I'm assuming you checked that nothing is binding the steering linkages from damage or something stuck?
Good luck