Coming over from driving Camry for last 15 years, steering on 08 TL seems little stiffer. Also noticed that car seems to drift left more than right if I let go of steering. I also noticed steering jerk once and over correct to right. When I first rode the car I felt it was going over to right but looks like it’s more towards left.

Not sure if it’s the alignment or something else with the steering.

 

That's not much to go on, but an alignment certainly sounds in order.
Inspection will tell you if something needs replacement.
If your steering seems stiffer than a Camry, 1, it is, and 2, how's your PS fluid look?

 

Check the little things out like LCA bushings and end links, so on. An alignment couldn't hurt nor could verifying the tires are good.

 

Thanks guys. I just installed studded snow tires and they told me old tires have uneven wear. Recommended me to get alignment done. I guess alignment is bad. Hopefully that is it and no other major issue.