A ratcheting tool such as a reversible dual-pawl ratchet wrench is disclosed that minimizes wasted motion during ratchet slip or counter-rotation. The ratchet wrench includes a bias assembly that biases the pawls apart to bias a first, selected pawl for a selected drive direction towards engagement with a ratchet gear, and that the biases the selected pawl into a concentric alignment with the ratchet gear. In this manner, non-ratcheting initial rotation of the pawl due to counter-rotation prior to the pawl camming out of engagement with the ratchet gear is eliminated, thus eliminating wasted motion and maximizing the available angular sweep for the wrench.