Tyres on these cars should really be changed by the time they get to 4, maybe 5 years old absolute maximum, the rubber just hardens too much.
If you start with a harder rubber to begin with that will just become even more exaggerated.
The Pirelli N rated, and the N rated Bridgestones and Michelins for that matter, use a harder rubber than the off the shelf version of the same tyres.
The Ackerman Effect, which is what you were describing, stands out far more with a harder sidewalled tyre. In fact Mercedes had a real problem with RHD GLC models a couple of years back where people were struggling to get out of their drives when needing to reverse out on full lock.
Their remedy was to swap all cars over for an all season, much softer, tyre.
Michelin rubber does tend to last longer than many other. I had an issue with Continentals a few years back and they started to crack after 18 months, you could see cracks between the treads.
I didn't notice the cracks, but I did notice how noisy the rears became and how crashy, I had moved to an E350 estate and it reminded me of the early run flats on our previous 535d touring (they lasted 3 weeks) it was that bad.
Continental sent someone out to look at the tyres, they took them away and gave me a report. Not kidding they said I had left them out in the sun too long!
I have not used Contis since then and doubt I ever will.
I think Michelins are probably the best all round road tyre for comfort and more than enough grip etc. but because they are soft you do lose some precision in the steering that is more than just slightly noticeable.
It's not right or wrong, just feels very different.
I would love to see someone test the PS4S vs the N rated PS4S back to back on the same car. Not even sure what sizes the N rated PS4S tyres are in?
Michelin are a bit odd, sizes they offer in Europe they don't offer in the UK.
Very frustrating.