A ground-engaging agricultural implement system, the implement system comprising: a front member; a hitch connected to the front member; a first rear member spaced apart from the front member and positioned generally parallel to the front member; a first pair of first pivotable arms (76, 78) generally parallel to each other, the first pair of first pivotable arms (76, 78) rotatably connected to the front member, or a section thereof, at pivot points; the first pair of first pivotable arms (76, 78) rotatably connected to the first rear member at pivot points; at least one first opener or first row unit extending downward from or with respect to the first rear member; a first actuator with a first end and a second end opposite the first end, the first end coupled to one of the first pivotable arms (76, 78), the second end coupled to the front member or to the first rear member characterized in that the arms (76, 78) and the first actuator are configured to adjust a first lateral position of the first opener or first row unit with respect to the front member; and that a first position sensor is configured for estimating the first lateral position of the first opener or first row unit with respect to the front member, the first position sensor configured for estimating the first lateral position based on an angle between any first pivotable arm (76, 78) and the front member or the first rear member; that the hitch is associated with a hitch angle sensor configured for estimating an observed implement angle with respect to the front member, a vehicle heading, or to a longitudinal axis of a vehicle for pulling the hitch, and that a data processor is configured for determining whether a draft force on the implement is unbalanced based on an error between the observed implement angle and a target implement heading exceeding a threshold deviation; the data processor adapted to generate a control signal to compensate for the imbalance in the draft force by adjusting the first lateral position via the first actuator. a front member; a hitch connected to the front member; a first rear member spaced apart from the front member and positioned generally parallel to the front member; a first pair of first pivotable arms (76, 78) generally parallel to each other, the first pair of first pivotable arms (76, 78) rotatably connected to the front member, or a section thereof, at pivot points; the first pair of first pivotable arms (76, 78) rotatably connected to the first rear member at pivot points; at least one first opener or first row unit extending downward from or with respect to the first rear member; a first actuator with a first end and a second end opposite the first end, the first end coupled to one of the first pivotable arms (76, 78), the second end coupled to the front member or to the first rear member characterized in that the arms (76, 78) and the first actuator are configured to adjust a first lateral position of the first opener or first row unit with respect to the front member; and that a first position sensor is configured for estimating the first lateral position of the first opener or first row unit with respect to the front member, the first position sensor configured for estimating the first lateral position based on an angle between any first pivotable arm (76, 78) and the front member or the first rear member; that the hitch is associated with a hitch angle sensor configured for estimating an observed implement angle with respect to the front member, a vehicle heading, or to a longitudinal axis of a vehicle for pulling the hitch, and that a data processor is configured for determining whether a draft force on the implement is unbalanced based on an error between the observed implement angle and a target implement heading exceeding a threshold deviation; the data processor adapted to generate a control signal to compensate for the imbalance in the draft force by adjusting the first lateral position via the first actuator.