On my truck, I used the factory rubber bushings between the k member and he tubing, there are sources out there that have aluminum spacers to replace the rubber bushings with. That would probably help with some of the mushy feeling on corners.
This is a picture of my other personal ride with a Volare clip under it.
The Dakota clip is a lot easier to do, they just slide right into many older frames at about the firewall until mid way under the cab. Gene