Alignment shop said the only thing out was a bit of excess camber at the right rear and the swheel angle. So the car wasn’t crabbing. But yes the disagreement between swheel angle and wheel speeds seems to have been my root cause. This happened when I replaced control arms and a couple tie rods. At that time, I used a different alignment shop and they didn’t center the s-wheel. I thought nothing of it at the time because the error was fairly subtle.

I’ll bet the dealer should have said, let replace the steering angle sensor...

Nice to have a cheap fix now and ten.