It sounds like your fork may be tweaked, or slightly twisted in its clamps. This can happen a number of ways, like from a minor spill, but is easily checked and resolved.
With the fender removed, place a straightedge horizontally against both fork sliders a few inches above the axle and another straightedge against the fork tubes as high up as you can.
Standing above the fork, sight down the two straightedges to see if they're absolutely parallel to each other. If not your fork is tweaked.
To straighten it, loosen (don't remove) every fastener on the fork (except the drain plugs), including the clamp bolts, the fork tube caps, the bottom cap nuts (axle clamp) and axle nut. In other Words, all the fasteners that keep the fork rigid.
Place the front tire against something solid, like a wall, tree or car bumper, and while straddling the seat and standing with both hands on the handlebar grips, violently compress and release the fork manually eight or ten times. Really bounce it hard. This should realign the fork.
Recheck alignment again using the straightedges and if all is well, retighten all fasteners.
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