I've had this experience with Subarus. And it's fucking annoying. If the car is tracking where it should go, why do I need to put force on the wheel? It's like I have to keep steering it slightly the wrong way so that it fights back against me just a bit to keep itself in the lane. Otherwise, it thinks my hands aren't on the wheel and bitches the whole time. My hands ARE on the wheel, there's just been zero reason for me to put any turning force on it.