So my 1st generation cr-v, (1998, rd1, automatic transmission) had recently developed an issue with the symptoms: when holding a constant speed the car would drive straight, then when letting off the gas pedal it would pull to the right. When accelerating it would pull slightly to the left. No play could be felt in the steering wheel. The issue ended up being a worn inner tire rod on the passenger side. I was able to diagnose the issue by jacking up the car and trying to move the wheel with my hands at 9 and 3 and also 12 and 6.

Posting this for anyone who has a similar issue as I didn't find anything online when I previously looked it up. Thank you to everyone who contributes to this forum, it has helped me many times