Well, not all roads are straight. I can tell you that mine was most noticable after a turn, like turning onto another street. But would also do it just driving down a street. As the road turns, so do the wheels, knuckles, and also the axle joints. Now after returning straight, everything would go back to zero... except the axle joints. They would want to stay in that turned position and so they would keep pressure on the knuckle to stay turned. A bump in the road or a bit more effort from the steering wheel could release the stuck joint and then there was no more pressure.
You see, there is play in all of the components in the front axle. Between the tie rod ends, the ball joints, axle joints, etc. Not to mention there is no direct connection from the outer stub shaft to the inside of the spindle. Yes it rides on a bearing on the inner side of the spindle but on the outer end it just sits in the locking hub mechanism. When you look at the overall picture there is a great deal of movement in there. The knuckle assembly can be straight forward and the axle shaft assembly can be cockeyed in there at the same time, applying pressure on the inside of the spindle trying to turn the knuckle (in or out whichever way the joint is sticking).
Let me illustrate the scenario in your mind. Imagine the right front joint is binding up. The truck takes a right hand turn and returns straight. Once returned straight the steering wheel no longer is "on center" to go straight down the road. It's now "corrected" to the left. This is because the right joint is holding the right knuckle in a "toe out" position and now the driver has to correct for this, putting the left front in a "toe out" position also. All the play in the tie rod ends and ball joints allows this to happen (even if everything was new). Now the binding joint releases "pop" which puts both wheels pointing "left" and now the driver is finding the truck in another lane because they had pressure on the wheel to keep it straight. It's a dangerous and unexpected feeling.
Please don't take this as being a smart ass answer, that's not me. I just want people to be educated on this phenomena and how/what happens.