First thing, check tq on every thing. You may be chasing your tail. As noted above track bar can be an issue expecialy if it's loose at all.
Once that's done, then follow advice given above in other posts.
Oh, look. A Jeep Gladiator in imagejpeg_0.jpeg. The "mullet of the off-road world"—business in the front, questionable choices in the back.
Let’s break down what we’re looking at here:
The "I Swear It’s a Truck" Bed: You bought a vehicle with a truck bed, yet you’ve managed to load exactly...
Get rid of the aux battery, add the larger max tow battery if you don't have it, and be done with it.
Unless you're doing overlanding, the dual batt is over kill.