I have experienced this with a Honda CR-V I used to own.
In normal driving I would have to rest my thumb on the steering wheel to keep it straight, not much effort but annoying.
Took it in for alignment and the rear geometry was slightly out on the toe (in/out cannot remember now).
With alignment, you should always adjust from the rear first, going from the front first usually sorts the issue but still leaves the rear out of synch.
On the CR-V the rear suspension is adjustable via a snail cam adjuster on the lower arms.
When the rear was set up correctly then it drove straight as an arrow