If there is air in the system, the steering wouldn't be smooth but would be jerky due to steering pump compressing the air. Like kenchan said, turning it lock to lock will get out the air.
What is sounds like though, is the adjustment screw not being put back to the original place.
As stated above about the steering correcting itself if you let go of the wheel, this is due to caster (alignment) and it should correct itself so the car will result in going straight with the hands off the wheel.
More information than you probably wanted but knowledge is power.
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