The "roll" or lean that I think you might be describing can be controlled with larger anti-sway (or anti-roll) bars. I think that Ford put larger ones on the later Explorers, probably '98 and up to lessen the lean in turns. If you drive primarily on the street, these can help. They do have a negative effect on articulation though, which won't help with rock crawling.
As for the hopping, or skittering across the ground, this problem is inherent in a leaf sprung, solid axle vehicle. It has to do with unsprung weight. The rear axle, along with the wheels and tires, is quite heavy compared to independent suspension. Also, the leaf springs don't do as good a job of locating the axle side to side as control arms do. There is really nothing there to prevent small movements of the axle from one side to the other.
If you've ever looked at other solid axles on cars with coil springs, there are usually either a couple of extra control arms mounted at an angle, or a panhard rod mounted sideways going from the axle at one end to the frame at the other. Both of these setups prevent sideways movement of the axle. With our leaf springs, only the spring bushings and the angled shocks serve to control that sideways movement.
The consequence of all this is that when you hit a bump with only one wheel, the axle bounces upward and sideways. The weight of this whole axle/wheel combination is too much for the shocks to control. Good shocks like the Edelbrocks will help control this. Polyurethane bushings will help as well, since they limit the side to side movement of the spring, but shocks would be my first move.
Tires can make a difference as well. I found that I had a considerable amount of this wheel hop over bumps with the original Firestones, but the BFG's don't seem to do it nearly as much. The stones had some pretty soft sidewalls, which seemed to allow more side to side movement than the Goodriches as well.
------------------
Tom
99 Sport 4x4
SOHC
Auburn Rear & Gerald's old Shackles
265/75-R16 BFG AT's that weren't supposed to fit