as my instructor tells me to do by turning ailerons into winds
Unless the wind is very strong - 20-25 knots or more there is no need to use the ailerons while taxiing to aid turning. The diagram in the POH does show how to use ailerons to aid taxiing but the intention of that diagram is for strong winds only. No wonder you are getting confused trying to taxi with combinations of brake, nosewheel steering, and now ailerons and elevators!
Same with crosswind take offs where some instructors teach lots of into wind aileron in five knots of crosswind. Its a myth.
The rudder pedals should centralise themselves after an input while you are taxiing. If they stay where they are instead of centralising I suggest the instructor should write this in the aircraft maintenance log as a definate defect.