I am in the same boat with my Genesis. What I have done so far, and it has helped a little but it certainly has not cured the problem is replace the factory grease all three diffs with silicone. I went with 10K in the front, locked center, and 30 K in the rear. I am going to redo it and put the 30K in the front and 10K in the rear just because I go real wide in a turn when I am under power. The 2 other things I found when I rebuilt my truck was that my servo saver was set loose from the factory and the 2 screws that thread into the GS019 steering posts (see step 60 in Genesis manual) were completely loose and showed no signs of ever having thread locker on them. I set my servo saver to 5.25 mm and I used thread locker on the 4 by 12 screws.

All of that did help a noticeable amount but I still get a bit of torque steer. I could try tightening the servo saver more only to risk ruining the servo. I think my next step is a high torque steering servo.

Most of this is thanks to ThermalRD. I asked him the same question and these are pretty much the same things he told me to try.