Most likely what you see is car's reaction to road's crown. On a perfectly flat road, the steering wheel should be straight. If the road slopes to the right (most streets do to allow water run-off), you keep your steering wheel a bit to the left, and vice versa. On most highways, you keep your wheel straight in the middle lane, a bit to left in the right lane, and a bit to the right in the left lane. Perfectly normal. Believe me, I am a "human alignment machine" 
If your car's alignment is off, you'd feel pulling to a side during acceleration and/or breaking.
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His : 2013 X5 3.5d Deep Sea Blue/Black/Aluminum with ALL packages, 20" 214"s, running boards, Adaptive Drive, Spare Tire, BMW Apps
On Order : 2016 X3 3.5 MSport Silver/Mocha with DHP, CW, Prem, Tech, DA, Lighting
Hers : 2015 328xi MSport Silver/Red
Prior:
2008 X5 4.8
2011 X5 3.5d
2010 335 xDrive
2013 335 xDrive
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