Steering wheel angle VS front wheel geometry/alignment

Why sometimes the steering wheel stays turned to one side (not centered) while driving in a straight line. May also cause 'pulling' to one side.
Alignment playlist https://rumble.com/playlists/UOPMM9DOVhM
On some cars equipped with Yaw sensors, having the steering wheel off center when going in a straight line can fool the Anti-skid system and throw an error code warning light for the Clockspring (SAS steering angle) sensor, especially on SUV vehicles. May also trigger SRS code and light and Active chassis code