2005 Nissan Altima Hard Steering/Car Pulls

What your describing is something intentionally done by manufacturers. They engineer an angle called Caster which sole purpose is to return the wheel to center. Some cars use more than other and it is adjustable on some cars but it was put there intentionally. I don't know if you have ever driven a car that doesn't return to center at all but it is very uncomfortable to drive. The same theory is used in bicycles when they angle the front fork back. That's why you can take your hands off the handlebars without crashing.
If you are seeing more to one side than the other, then something could be bent in the suspension because if caster is not equal on both sides, that's when you get a pull.

There are other possibilities too like a bad tire or binding strut plate. You can try switching the front tires left to right to eliminate tires. A binding strut would cause some noises and roughness in steering.