It will fix easily, and it isn't the cause of a left arrow now and then. If the string is staying on the bow when you shoot it, the arrow will track perfectly. If the arrow occasionally is hitting to the left, it's an arrow issue (spine, etc.) or a shooter issue (release, push, etc.).
If the bend is slight, string the bow and twist opposite the bend gently so you don't twist the string off, and let it strung for a few weeks. It will take a proper memory. Use a bow stringer, since the reason it is twisted is someone didn't.
Most slight bends/twists don't have to be heated, but that would be another solution.