Same complaint here. Original owners of a 99 and it's pretty pitiful. Even worse that the Ford Tauruses that my company provided for 15 years.
I always believed that the problem came from the Camry platform/suspension. When they put the larger diameter and wider tires than the suspension was originally designed for they had to reduce the steering angle to prevent the tires from rubbing on the suspension and wheel wells.
Glad to hear it was address on later models.