2016 Toyota Camry - steering pulls left and right

Could a bad battery cause steering to pull left & then right?

Possible, I think your car has electric power steering. I would not drive it until resolved. One option, remove the battery and have it load tested, replace if necessary. That corrected the problem according to a cartalk post in Jan 2018.
BTW, is it still under warranty? Might be best to have it towed in.

Replaced the battery. Seems to be doing fine now.