I also had some issues with my Alphard 2012, I think I may have used some force to turn the steering wheel and after that the car is pulling to the passenger side, got the wheel alignment checked by something called a Hunter device and they said its all good and does not need adjustment. I also checked the tyre pressure and everything is ok but the car still pulls towards the passenger side. They also checked the tyres to be nearly new and good condition. Please help.
They also mentioned that right rear is not adjustable.