A steering compensation apparatus includes a road camber determiner to determine a first road camber at a road position in front of a vehicle using wheel trajectory data and height data of the road position, a road camber logic circuit to select, via a torque mapper mapping a plurality of road cambers to a plurality of first compensating torques, a first compensating torque corresponding to the first road camber and a steering controller to drive a motor to deliver the selected first compensating torque to a steering rack at the road position responsive to the first road camber.