Our vehicles have a common problem where the bushings on the rear control arms wear out, making for excessive body roll and the rear wiggle, giving you that fishtailing feeling. I did a writeup when I did my 01; the rear suspension looks to be identical on the 00, though you
may need slightly different part numbers:
post6596768.html
The quick way to determine if yours need service is to grab the lower control arm and twist it. If it twists at all, the bushings are shot and need replacing. You shouldn't be able to move them by hand at all.
Also, you may want to replace the bushings on the panhard rod and stabilizer bar, and the stabilizer bar connecting rods:
http://www.amazon.com/Proforged-113-101 ... ref=sr_1_1
Check 4x4parts.com for polyurethane bushings. Polyurethane will mean a slightly stiffer ride, but they generally last as long as the car.
Good luck and let us know how it goes!