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 generally parallel to each other, the first pair of first pivotable arms rotatably connected to the front member , or a section thereof, at pivot points ; the first pair of first pivotable arms 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 , the second end coupled to the front member or to the first rear member characterized in that the arms 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 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 generally parallel to each other, the first pair of first pivotable arms rotatably connected to the front member , or a section thereof, at pivot points ; the first pair of first pivotable arms 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 , the second end coupled to the front member or to the first rear member characterized in that the arms 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 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 . <EOS>