I have this issue on my 2015 GT with 11k miles. The steering wheel won't correct itself on some left turns, it only happens when turning left and it is inconsistent.
Mine still does it, I don't notice it that much anymore, I guess I learned to live with it.
Honestly I'm scared to take mine to my dealer, they problem will not be able to reproduce concern and I'm scared the car will come back damaged, paint, door dings, interior etc.
I haven't confirmed, but it seems to do it more consistently when accelerating (and turning left).
Not sure if I have just gotten used to it and don't notice as much or if it is getting better. Definitely at the top of the list for the dealer when it goes in for the first time.