XT steering

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!

First, try turning off EyeSight. Then, go to a different repair shop and let them diagnose it. Dealers are often worse in terms of price, honesty, and knowledge.

As the previous two stated, Eyesight's Lane Keep Assist is the issue if you have it as it was only standard on the Touring model, optional on the XT in 2018.

Otherwise, twitching in the steering is either normal behavior (unlikely) or the alignment is off. Some new Subaru owners on the boards have been reporting particularly on the 2018 Forrester that the alignment on newly delivered cars is off - and when corrected, the problem goes away. However it is not usually described as a sudden twitch - more like it won't track correctly on the highway (local roads when going slower not as much an issue).