Alright everyone, so I took the general consensus advice - "stop being a dumbass and get an alignment." I went to a local shop with good reviews and had them align the car. Only thing that was off was toe, which he brought back into spec.
After the alignment, the car still feels the same to me. It feels like the steering is overly light and uncommunicative at low speeds, and there is close to an inch of play in either direction before the wheels feel like they actually respond to the steering input. At this point, I've had Toyota look at, and I've had the alignment. Could it just come down to tires? Nokian entyre 225s - they have a ton of tread left, but they are all-season tires and probably not the stickiest.
Or, conversely, what else could I look at replacing/upgrading to make the steering more direct and less light? Would steering rack bushings be a good idea? Stiffer sway bar? Again, thanks for all the help. My alignment specs are below in case anyone wanted to see them.
https://imgur.com/a/xO9Ow