This is caused by minute user input, thus, an alignment won't fix anything. There's no slop in our electrical assist power steering unit. That means, minute user input will change vehicle direction slightly, requiring user correction, over and over again.
Some people like slop. Some people don't. It's not a defect. It's a preference (or the opposite of that).
I "suffer" from the same problems noted above when I am really tired and driving (never driving tired enough to fall asleep - but muscle fatigue tired). I don't enjoy the tight steering nearly as much then (or at all). When I'm sharp and my muscles are beginning the day (unlike last week, with 10 hour driving days), I absolutely love the hyper-reactive steering with zero slop, because I can turn on, around or over a dime, and react with a precision that's absolutely impossible in a car with steering slop.
Over the years, across 27 cars, vans and a motorcycle (talk about zero steering slop), I've preferred one over the other depending on the vehicle. Loved the precision of my motorcycle and 1965 Impala and the something in between feel of my power power steering in my 1963 Biscayne. Loved the looser feel of my Chrysler New Yorker. Hated the ridiculous amounts of horrible slop in my Ford E350 SuperVan (early 1980s) -
no amount of adjustment fixed the well known issue - you could literally drive like in the old movies from the 50's with that ridiculous amount of left-right wheel turns while going straight.
In the end, I've always found going looser on my input on a tighter steering system like ours makes the car easier to control. I found that gripping the wheel tightly and continually trying to overcorrect makes it worse. One of my co-travelers found the same thing when he took over some of the driving duties. Anticipating the car's tracking becomes easier and makes it easier to require less/no/minimal correction because we no longer over-corrected. The people who (like me) are getting the "Keep Hands on Wheel" warning are those who are winning that "game".
A friend of mine has a more expensive car that also has an electric assist power steering where it's adjustable. Perhaps that's the solution to make everyone happy?
Hope that helps.