Yes, the amount of steering is very small and difficult to notice...around a degree or so. Honda had a 4 wheel steering system used for low-speed situations like you mention, and the degree of steering was more noticable. HICAS has a different purpose. Since small changes in toe can make a noticable difference in vehicle dynamics, HICAS is used to help fine-tune vehicle balance on turn-in. Here's an illustration by Nissan (for the 240sx specifically, but the system works the same on all cars)"
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