If everything is still stock, including the shocks and tires, lots of things you can do (and should look at) before contemplating stuff like trick sway bars.
Like you, mine is presently a on-highway daily driver (an 05 CRD Sport).
If you still have the skinny 225/75/16 tires (minivan tires on a Jeep, what was DC thinking?), you can swap them out for something along the line of 235/70/16 (stock on the Limiteds I believe), or 245/70/16's which will fit without a lift and are the same diameter so the speedo won't be thrown off - did that four years ago on mine and made a noticeable difference without any other changes.
Stock Chrysler shocks are indeed crap. Agree with those on here who say if you've got anything past 40K miles on the stock shocks, they're worn out and you're riding on the springs. If you're primarily worried about highway handling, want to minimize expense and save your pennies for something like a OME setup down the road, you can try a set of Monroe quickstrut assemblies on the front (replaces factory strut and spring) and Monroe rear shock absorbers. That's what I replaced the factory junk with on my CRD about a month ago - I shopped around and managed to get the entire set for $360.
I realize many on here are going to consider that recommendation to be heresy, that the recommended setup on this forum is mainly OME springs and shocks - but if you're on a budget and doing highway driving, ANYTHING is better than the factory junk that Chrysler put on. Even with just the Monroes, I gained roughly an inch in ride height on the front, and driver/passenger front ride height are sitting equal now - it had been low on the drivers side since bought new - and the highway ride and handling, especially around curves, is a quantum improvement over the worn-out factory shocks.
Check out the balljoint and bushings on your upper and lower rear suspension arms. On mine at 60K miles, the balljoint on the upper arm was shot - you could swivel it with just one finger - and the bushings weren't too healthy either. You can buy the balljoint and bushings separate, or entire new arms themselves.
Same for the bushings on the front suspension. When I replaced the shocks and struts, I had to replace several of the front bushings as well - particularly the ones for the strut clevis arms on the lower control arms. The rubber was already dry rotted and cracking and getting beaten out of the housings. Instead of a whole new sway bar, might be a new set of bushings, for the existing one and the link arms, would improve it's on-road manners.
NOTE - what I suggested above would be a MINIMUM COST-CONSCIOUS upgrade just for DAILY HIGHWAY DRIVING. For any kind of serious off-road activity, I'll quite readily defer to those with far more experience in that venue.
