I've had exactly the same issue, and adapted my driving style (light input on the steering wheel) in the same way to compensate. The start of the problem preceded me swapping from RFTs to non-RFTs (the RFTs had all but disintegrated on the rear), and I hoped that new tyres would sort it out. In fact, for a time it was distinctly worse on the non-RFTs. I remember driving on the M6 at 40mph as I was scared sh*tless of going faster. I went back and had the tracking adjusted several times and saw small improvements, but on the motorway I would be apprehensive at speeds over 60mph as the car felt light and 'disconnected' at the front. Couldn't find any play or wear in any bushes or suspension parts.
Over time it's improved, which I put down to initially the tyres scrubbing off the mould release wax, and then gradually wearing to a profile where there is more rubber on the road across the tread. My car showed the usual pattern of inside tyre wear before I swapped them, and as that wear has repeated with the new tyres they have settled down.
Has to be said, though, the car has never felt quite as planted as it did when I had the original tyres on it and the drive is less fun than it used to be. I realise that satisfying driving relies on a certain amount of resistance to your turning inputs at the steering wheel. The light feel takes away that feedback and reduces your confidence that the car is going where you want it to. But actually, if you hold the wheel gently it still goes in a straight line, and that's how I now tend to drive - holding the wheel at the 4 and 8 o'clock position and not applying too much pressure.
