**If you are talking about side to side rocking, then I would find a 1999/2000 front sway bar (bigger) and install new poly bushings and end links.
(Make sure to use enough of the poly grease on the bushings, and the end links are the proper length to level the sway bar) ( I always buy the tub of the clear silicone poly grease to ensure I have plenty and I have never had a squeak on any vehicle doing so)
**Then in the rear replace the rear sway bar to at least a 1" and replace the bushing to poly, including the end links. (same note on the poly grease)
**While you are at it, check your upper & lower ball joints. I would replace them with MOOG anyway, the best way to do this, is get the complete upper & lower control arms that come with new bushings. (MOOG)
**Install quality shocks; I don't know the amount of lift if any on your explorer, but I would only recommend the Bilstein 4600 series shocks (much better than most all, unless your talking about FOX, SWAY-AWAY, KING etc...)
**If your steering feels loose with slack; then replace outer tie rods (MOOG), steering rack (usually comes with inner tie rods) & pump (clean lines and install a inline filter), and most important is to replace the lower steering shaft. (Can't just replace the steering shaft u-joint, unless you fabricate your own lower shaft)