I doubt it is the adaptive steering. I had it on my 2018 and it's on my brand new 2022 too. The new truck steers straight - with or without a trailer (a 5th wheel).
You'd think a Ford dealership would be checking the alignment, tires pressures, torque on nots and bolts, etc., instead of just blowing you off. But lately I think a lot of dealerships service departments just suck at what they are suppose to do.
Hopefully you can find a good dealership that is willing to actually look for a problem.