Won't go straight; not circle of death

My Roomba won't go in a perfectly straight line. When it's going across the room in what I assume should be a straight line (it's never completely clear what it's trying to do) it goes in a slight arc to the right. Always to the right. It is relatively new (has been in the box for a couple years) so no parts are worn out. What could cause it to never quite go straight? I've checked the wheels for resistance and they seem exactly the same. It's only been used to clean a half dozen times total, and has always done this since we unpacked it, so it's unlikely to be a dirt issue.

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