I will wager that if you turn off all the steering assist features that the behavior you are experiencing will stop. This will prove that it is one of the programs that provides 'safety'. This is helpful info that you can then provide to the dealer. First you turn off all programs and determine that the behavior is gone. Then turn only one steering assist program on and test again. Then turn that program off and turn on the next program and keep repeating until you know exactly which 'assistance program' is introducing the behavior. With that info in hand, the dealership should be able to take action better that just telling them 'it happens sometimes'