Gen 1 R1T owner here. This just happened to mine after owning it for 20 months in Fla. I didn't get many details on the replacement of the HVAC. Needed carpet replacement as well. Found out when the 12v shut down and locked me out. Rivian towed it to the SC and got me a rental then loaner...
I have had issues with non-centering as well. For me, it usually drifts more towards the right side of the lane...a little uncomfortable when passing someone on that side.
I noticed this happened to my R1T as well. But unfortunately only after I hit a small post in a parking lot during a rain storm. Camera did not see well so this was actually a time I really needed the proximity sensors. And perhaps a proper bumper. This is beyond frustrating...truck will be...