Update - I checked the ABS/wheel sensors and lines all look good. I started reading and re-watched some of Eddie's front-end videos, in particular the one with the new Dynatrac axle and Jim, the owner of Dynatrac. They do a crude alignment in that video, so I checked mine, the toe in was about 2" (over 1 degree total) on the 37's, when it should be about 1/8" (or 0.2 degree total). I adjusted it myself in the driveway and what a GAME CHANGER. Literally night and day. Vehicle is less darty, drives easier, the loud tire noise (basically dragging in the driveway that I thought might be normal) is effectively gone.
So, in addition to the shop screwing up the steering install, they jacked the alignment too (no surprise). I still plan to take it to an alignment shop to find out the caster (hopefully good) and to more accurately dial in the alignment. I'm hoping this will resolve the ESC problem I'm having too, but haven't had a chance to test it just yet.
Overall very disappointing that a reputable shop screwed up so much, but good learning opportunity for me and highlights the value in understanding how things work yourself. I'm no mechanic, but I am feeling much more confident. Hopefully no other issues from their work, but time will tell...