Alrighty guys, thanks for the comments and suggestions. I think I have figured out what happened.
My driver side front wheel had some damage on it (discovered on the same day the steering issues arose). My car was parking slightly uphill, and so I turned my steering wheel all the way left to curb my tires. The location where I parked was a fairly tight two way street that's relatively busy. My guess is that a driver struck my wheel while squeezing through this street causing this damage to my rims and steering...
Here's the one free alignment that the dealer performed under warranty...
The steering wheel and steering assembly are straight again. However, the assembly now will always have some play in it, allowing it to tilt/rotate right, just like how it was before the alignment.
Lesson learned... I need to get a dash cam.