Gee... thanks for the help.
Here's what it was, in case someone has the same misfortune.
My front passenger tire had severe tread separation. I am no tire person, so I couldn't tell. It felt like my steering was bad though, so I thought it was my tie rod ends.
However, that was not the case. I took it to the nearest Ford dealer and here is what they told me. "There is absolutely nothing wrong with your truck. I personally drove it and got it up to 85, took my hands off the wheel and it did fine. You can feel assured that your truck is perfectly fine."
Great I thought, I must be crazy. I take the truck and leave, as soon as I get up to highway speeds (65-75) my truck starts shimmying. I thought great, must have thrown a weight, need to get my wheels balanced. Well the shaking progressed to the point that I had to slow down to 35mph on the interstate and limp my truck into a tire shop nearby.
There they broke the news to me, tread separation. I told them what the Ford service center said and they replied "What? Are they freaking blind?"
So lesson learned... question everything and trust no one. Rest assured that Ford will hear about this. If that tired had blown, that is a very curvy section of interstate with drop offs, I could have died.
The tires were in great condition, no abnormal wear or anything, just goes to show you that even something that seems good can go bad.