Reducing slop - 2007 Tahoe

[dross99_si]

I'd like to get rid of the super soft, sloppy feeling of the suspension. Not looking for a stiff/harsh ride, just want to stiffen things up a tiny bit so the truck doesn't feel like a floating boat.
Currently have Bilstein shocks and everything else is completely stock.
Don't want to raise or lower vehicle either. Factory height is perfect.
Suggestions?

 

[AZSCTACO]

Get some DJM front and rear sway bars. That will help alot with the "boat like" feel.

 

[CrashTestDummy]

And make sure the end links are in good shape. They commonly-break under use. Check both ends, although it's the fronts that really take a beating.