I have a Rav4 with exactly the same problem, it doesn’t self centre the last 15 degrees or so and is sticky in the centre position.
Its a 2008 with EPS so newer. Toyota say its within normal limits, tracking is checked and fresh MOT no advisories, so must be something stiff or failed.
When I’m driving back late at night it is verging on undriveable since every tiny steering correction is forced.
Like to be disposed off soon, and something else (maybe another Rav4) if I can find one thats OK.