Loose steering and wander

I have been driving 6 months local but i am constantly moving my wheel i think coz of nervousness how do i overcome this by driving steady how firm should i hold steering sometime i go over into next lane.

 

i was thinking about adding a safe t plus will it help ..

 

i do too much correcting while driving straight i will try u method

 

its a 2001 century class with reman steering box trw.new kingpin, new drag link and new tie rod nds so i think its me i havent driven another truck to compare. i did try to adjust box so steering became hard to steer so very tiring to drive. so i adjust it loose then it becomes to loose. so i think its me being nervous if i release steering it dirives straight so i think its me moving it too much cos os tension

 

i freak too much when i haul 40,000 lbs plus and tend to move steering alot