Here's how to diagnose a slight pull on the steering wheel. During highway speeds, my Lexus ES330 would experience a slight pull to the left when the steering wheel was let go. No matter the road conditions, it would always pull to the left, and got worse as the speed increased.
After rotating and changing tires and taking the car in for an alignment, the problem persisted.
This video demonstrates how to check and service the front brakes as a solution to the alignment problem. The brake assembly is taken apart, cleaned, brake pads and rotors sanded to remove grooves and glaze, slider pins and caliper brackets cleaned and lubed and brake pads rotated.
It turns out the slider pins on the driver's side were stuck causing it to slightly engage the brake and therefore veer off to the left. Since this isn't the first time it has happened, a new caliper bracket and sliders might be required to solve this problem permanently.
The car now tracks more or less straight while going down the highway.
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