I can sing scales in tune, but when I add lyrics my pitch falls apart.

been trying to solve this problem for years and would really appreciate advice from teachers or singers who've dealt with something similar.

My situation is (perhaps) a bit unusual. so multiple singing teachers have told me my ear is good. I can hear when I'm out of tune, and I can generally sing scales & simple intervals accurately, BUT the problem starts when I sing an actual song. As soon as I introduce lyrics, my pitch becomes inconsistent. It's as if the coordination between ear and voice breaks down Has anyone experienced something similar?

If so:

What exercises helped you most?

Is this something vocal coaches describe as an auditory-motor coordination issue, or is there another name for it?

Are there exercises specifically designed to improve the connection between hearing a pitch and producing it accurately during actual songs (especially once lyrics are involved)?

Is it worth temporarily removing lyrics and singing everything on vowels until the pitch becomes automatic?

For context, I mainly sing indie/alternative rock, and my goal isn't to become a virtuoso singer—I just want to sing consistently in tune.

I'd really appreciate any advice or experiences from people who've overcome this. It's been the single biggest obstacle to my singing.