I had a 04 CTD 4x4 that had DW. This is my experience and what I found out after reading hours and hours of horror stories about DW and how to fix it. There is not one single cause of DW in every truck. Everyone is different. There is not one single cure either. What might cure mine might not cure yours. I suggest you look at every moving front end part on your truck, including the wheels and tires. Check for any worn parts--tie rods, tie rod ends, pitman arm, shocks, steering box, steering stablizer, tire pressure and alignment, etc etc etc.. Even see how flexible the side walls on your tires are. Understand you can spend a lot of money on chasing the problem, that is why you need to identify and fix the problem specifically. Many things will also mask the problem without solving the problem. There are many quality after market front end parts out there--use them instead of the stock Dodge parts. Lastly--even if you think you have solved the problem, I'll bet you hold the steering wheel just a little tighter after you experienced DW.
Jay