I just wanted to update this with my results as now the car behaves perfectly. (knock on wood). After installing some 2" lowering springs I went to have another alignment. I went to a different shop and asked them to use custom settings rather than the factory specs.

If you are having trouble with light steering and tramlining, try these alignment specs.

Front:
Total toe IN to 0.1 deg (that's 0.05 per side)
cross camber should be 0 (each side came out to -1.5 deg for me)

Rear:
Total toe IN to 0.2 - 0.25 deg
Camber -1.5 deg

I'm excited to take a longer freeway drive this weekend now that it behaves so much nicer.