hum I steer with the mouse, on foot if you use A and D you don’t steer you sidestep. I go where I look on foot so I steer with mouse.
In fact I never use A and D outside of combat to evade so when riding it’s horrible.
Only way I found as I steer with mouse = I steer with right hand is to use the arrow keys to steer on horseback that way at least I’m still using the same hand even if it’s on keyboard and not mouse.
I wish mouse to steer was at least an option for those who prefer it.