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Corrective Steering applied off road detected

My model Y keeps giving me the "Corrective steering applied, off road detected" (or something very similar) error/alarm. I am going less than 25mph, in parking lots, or on residential streets when this happens. I don't feel anything in the steering. It usually scares the crap out of me and I come to a stop. Is this something others are experiencing, or should I ask for service?
 
My model Y keeps giving me the "Corrective steering applied, off road detected" (or something very similar) error/alarm. I am going less than 25mph, in parking lots, or on residential streets when this happens. I don't feel anything in the steering. It usually scares the crap out of me and I come to a stop. Is this something others are experiencing, or should I ask for service?
You didn't happen to only replace 2 of 4 tires have you? On my other car with a staggered setup, the first time I replaced the tires, I only replaced the back 2, becuase the front 2 still had quite a bit of meat left... However, I ended up having to replace all 4, becuase otherwise the stability control kept freaking out at any kind of turn/curve, even at low speed around 30mph.
 
You didn't happen to only replace 2 of 4 tires have you? On my other car with a staggered setup, the first time I replaced the tires, I only replaced the back 2, becuase the front 2 still had quite a bit of meat left... However, I ended up having to replace all 4, becuase otherwise the stability control kept freaking out at any kind of turn/curve, even at low speed around 30mph.