SR-22 pilot reported a runway excursion during takeoff roll that resulted in a collision with a runway light. Pilot continued takeoff and returned for a safe landing.

Narrative

I was taking off with a slight quartering headwind reported at 8mph with a plane at max weight with a practice soft field technique; which I have performed many times. My trip with a fully loaded plane was aft of center; and as take off role commenced; side stick yoke was pulled back and nose lifted earlier than typical; when plane drifted left of center despite significant right rudder with lift off and slight aileron deflection to the right. As the nose lifted; the yoke was pushed forward to capture ground effect; and the plane drifted further left and as more aileron deflection and right rudder was attempted; at approximately 1300 feet the left main hit a runway light; with no sign impact on flight characteristics or performance. I continued to correct toward center and at this point with target obstacle clearance speed was approached per POH; a positive rate of climb commence from ground effect and achieved flight over center line; a decision was made to continue flying the airplane; as I did not know extent of damage; I radio tower; reported the left main hitting something and requested return to land. A low pass was made so tower could assist with inspection of the left main; with no obvious visual issues noted by tower; and after a go around I landed normally and taxied without issue back to the ramp. The wheel pant was slightly damaged with no obvious damage to the wheel or left main; wing or body. A runway light was damaged at approximately 1300 feet from start of runway. Several factors led to this event: the max weight and the airplane not being trimmed as aggressive as it should have been led to the earlier lift of the nose; which led to a more aggressive torque and left turning tendency. I believe there was a crosswind more than what was reported; and the aileron deflection should have been more. Earlier recognition of the loss of directional control could have resulted in immediate reduction of power and aborting the take off; and in hindsight this was the major miscue on this take off. Despite the above; I never panicked; nor lost control of the aircraft; continued to fly the aircraft safely; regaining directional control despite an obvious hit; communicated well; though not as calm as typical and felt the decision to not immediately land was the right decision given the concerns about the left main and/or wheel being compromised. ATC was extremely helpful in both allowing me to return; asking if I needed further assistance and giving a visual report of the left main wheel.I have already contacted my instructor to arrange short and soft field take off and landing practices as well as appropriate airplane configuration for weight and balance.