It has nothing to do with the driver. People are getting new steering systems because of this problem. One owner got a new one here in our forum and he is very happy now. I am not the OP, but I too noticed the steering got a lot better once I turned off both RDM and LKAS. It was driving me nuts before not staying in the lane and fighting every steering input by me.
Even though a lot better now, mine still does NOT track straight, and I am also still feeling some resistance in the steering wheel, but it's less pronounced than before. Something is not right with the steering rack or EPS (electric power steering) in some of our cars, and I suspect I need to have the steering system or EPS replaced as well. Like I have said a few times already - I test drove an '18 Sport 2.0 before I bought a '19 they had in the lot. The '18 tracked straight and RDM and LKAS did everything right with the cruise on at 65mph in very light traffic. The car steered itself for at least 5-6 miles on the highway (I missed the 1st exit and had to take the next one) without any input from me. It was perfect and drove in the middle of the lane almost the entire 6 miles and it blew my mind how well it did it. When I test drove mine (the '19 MY) it was raining and there was rush hour traffic, so I couldn't drive fast or set the cruise. I was in pretty much stop & go traffic. Not an ideal test drive but at lower speeds, it felt fine. It's when I go >40mph when I start feeling the steering wheel fighting me (kind of locks up in the center) and the car begins wondering constantly requiring repeated correction from me like every second, and I still can't get it to go straight.