Pieris Japonica growing onto my lawn

[Towcester]

See pic. I obviously planted it too close to border. It doesn't seem to grow backwards into the border, just out onto my lawn. Could I stake it and lift the bits growing outwards to point upwards? Should I prune it? Don't really want to dig it up to move it but could do as a last resort.

Have a robotic mower that always tangles with it when it cuts the edge of lawn.

Looks like it's growing towards the light. What direction is it facing?

Is it this one as it says it likes shade or dappled shade www.gardenersworld.com/plants/pieris-japonica/

It is east facing. It sits next to and under an Acer too.

Doesn't really look like it's got room back towards the border? Plants will grow towards where they can expand, as a rule.

I would just change the shape of the border to accommodate it tbh.

Cut off the bits you don't want. Cut back to a pair of leaves with secateurs to avoid a shorn look.
No plant is going to actively favour growing toward the dark, even if they like/tolerate shade. You'll have to trim back every year but that won't hurt it.