S10 steering geometry is neither terrible nor unsafe, it just isn't very good. The design of the GM G-Bodies carried over from the A bodies in 78', but if you trace the lineage farther back, the design understanding and philosophy essentially dates to the late 1950's, early 1960's. Considering production in North America stopped in 04', the suspension design basically spanned a similar length of time as the small block chev engine.
Bump-steer or excessive camber gain under compression is the largest issue plaguing the design, however that's only a problem on big bumps at speed. Think deep potholes on the highway, that's really where the biggest concern is.
There have been so many improvements in shock technology, and understanding of performance handling dynamics since the 1950's that the design is functionally obsolete, and indeed pretty much every modern suspension design is going to have a higher motion ratio, less spring rate, more shock control, flat or near flat camber curve etc.
The tall ball joint swap/tall spindle swap/upper control arms/adjustable outer tie rods are all pretty common in addressing the bump steer/camber curve issues.
For most daily drivers, this stuff is unnecessary, as again the geometry is passable for daily driven street vehicles. Its more when you get into auto-x or you really want your truck to handle well that you start to look at changing some front end components. The tall ball joint/UCA swap is the easiest low hanging fruit at a relatively good price point. Along with adjustable outer tie rods. The more nuanced issues, e.g. Ackerman angle (CoR/Track Width), RC, and caster are not nearly as easy to address. But again, these are trucks, if you want a good handling car to throw around a track pad, go buy a Miata... lol