Vehicle steering wheel pull is a condition experienced by customers where a constant torque at the steering wheel is required to maintain a straight path. Steering wheel pull may be accompanied by the secondary effects of steering wheel angle misalignment and vehicle thrust angle “dog-tracking.”EPS pull compensation is a feature that can automatically compensate vehicle steering wheel pull. This paper examines customer benefits, operating principles, effectiveness, and robustness of EPS pull compensation in vehicles. Vehicle road test data indicate EPS can correct a severe vehicle steering wheel pull. Using fundamental physics equations, an analysis tool is derived to support further investigation of steering wheel angle misalignment and vehicle thrust angle. The final section presents a designed experiment revealing parameters most influencing vehicle robustness to chassis and road characteristics. The experiment results demonstrate tire plyrat, steer ratio, and rear tire cornering compliance are key vehicle design factors for steering angle misalignment and thrust angle.