According to aspects of the embodiments, there is provided methods of optimizing contact forces between transfer and photoreceptor belts in image forming devices. The method acquires initial and operational set point data for the photoreceptor and transfer belt at different stages of engagement. Yaw motion is applied to reduce any misalignment between the belts based on the acquired data. A processor is used to determine misalignment between the photoreceptor belt and the transfer belt, and an actuator can be used to apply yaw motion. The yaw motion can return the transfer belt and the photoreceptor belt to their initial set position, or return a steering subsystem actuator to its setting prior to engagement of the belts. Set point data can be from the respective transfer steering subsystem for the photoreceptor and the transfer belts.