Yes, a stiffer front sway bar will tend towards understeer, and a stiffer rear will tend towards oversteer. But a particular car may not need one on either end based on the roll rate provided by the main springs alone. As examples, IIRC some Porsches do not have a sway bar at one end, and many stock RWD cars come with only a front sway bar, as it tended to understeer that way and makes people back off before they get into oversteer and spin out.