Hit there. My guess, and it is just that, is it sounds like the Lane Keep Assist kicking in. IF you have Eyesight on the vehicle, and if the Lane Keep Assist is turned on, I would put even money that this the cause of your issue. If you get near the edge of a lane, it will gently try to move you toward the center, and that is what it feels like, like working againsta gyroscope.
Try turning the Lane Keep Assist off, or the entire Eyesight suite, and then see if you can replicate the driving conditions and the symptoms.
Hope that helps!