It's not an over steer issue, I’m talking while traveling straight on ice that’s slicker than greased whale ************. It feels more like the rear tires are fighting each other so when one tire gets more traction it pushes a little until it's going straight, then the other tire is that much more out of alignment with the direction of travel so it pushes back. Thus the wagging affect. There is significant under steer on dry roads, I’m attributing that more to the AWD and the lame tires the factory put on. The toe may very well be affecting it though.
I wouldn’t do the adjustments myself, I would spec out new nominal’s for the alignment guy. I’ll do the alignment on my Jeep but it turns out big squishy tires on a flexy soft suspension are a lot less sensitive to subtle changes.