I haven't noticed issues that you describe, I tend to hang on to the wheel, however I do have some problems with directional stability and some lack of precision in lower speed corners. Since I have new non RFT 19" Michelin PS2 correctly inflated, I'm going to get an alignment check done in the next week or so.
BMW quoted £200, but a local tyre place with Hunter KDS machinery have quoted a max price of £75 and that could be less depending on what needs to be adjusted.
You can search for a local agent if you Google Hunter KDS. (Thanks Kend)