To echo earlier comments, lose the PRS. The only real benefit to the system is parallel parking...
IN AX and track situations, much like traction control, the system is engaged to be smarter than you are. This is rarely the case as your instincts are to over correct.
To further add to Carrera and Geezer's comments, for our cars, the optimum set up is for the rear toe to be at 0 or a slight negative to further facilitate turn in. Toe out can create exciting times under extreme cornering.
For more on vehicle dynamics check out:
The Physics of Racing.