My 2011 legacy wanders all over the road, many have had this problem and have been "fixed" by SOA.
My dealer contends that nothing is wrong with it.
Mine doesn't fall into the vin ranges that had some pretty serious issues. (apparently)
off center stud bolts on hubs, defective electric steering, unbalanced tires, incorrect alignment and host of other things.
Lots of owners have taken things into their own hands and have installed different suspension, tires wheels sway bars ect.
I don't highway drive much, but when I do it's a white knuckle affair to keep my lesbian car on the road. No joke.
Other than that it's a pretty good car.