Thanks for the feedback there, that helps a bunch. One more thing though, if you could snap a pic of your rig from the front showing the lower half underneath (so we can see both your control arms), that would help us see how your T-bars are set. These are a large part of the reason for a harsh ride.
Shocks are only a few years old, but still can be worn out.
PSI is just a tad high, but not that high to give you a crap ride.
The lean to the drivers side is caused by the weight of the gas tank and driver body weight both on the drivers side.
Getting a new set of leaf pack springs will help out a lot with ride quality, sag, and lean.
Last thing is to check all ball joints, sway bar end link bushings, and control arm bushings. If these are bad, it would let you feel the cracks in the road.