If you are getting this behavior at low (to no) speeds, I would test on the highway and briefly let go of the wheel to see if the car wants to "pull" heavily to one side.

I say "heavily, because a typical highway cross section is ramped from the centerline for water dispersion, so gravity has some effect...i.e., car will pull gently to the left on the passing lane and vice versa on the right lane.

Otherwise, you might need to have the alignment corrected.

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2009 ML350 (106K) - Family vehicle
2001 CLK430 Cabriolet (80K) - Wife's car
2005 BMW 645CI (138K) - My daily driver
2016 Mustang (32K) - Daughter's car