2021 KIA RIO Lane Departure Warning Problems

On 3/19/23, as I was driving on a dry, straight, two lane road at the posted speed of 40mph, the car began to try to steer into oncoming traffic. I had to exert moderate force to keep the car in my lane. This continued continuously for about 1/2 mile. No low tire pressure indicator lights were illuminated, however the lane assist icon was on and green, indicating normal operation. Just as I was going to turn down a side street to check the tires manually, the steering returned to normal. However, the lane assist icon was now white, and as I drove the remaining approximately 2 miles home, the icon would change from white to green every 20 seconds or so. The car now operates normally. We took the car to the dealer today to be checked and they reported they could not replicate the issue. Attached is their report.