Pakiwi

My road bike has Shimano Ultegra 6600 10 speed components.
I do all the maintenance on the bike myself and still have lots to learn.
One of the things which what I am doing wrong with the front derailleur.
When the chain is in the smaller chain ring and towards the smaller gears on the cassette, after I get towards the last four I have to trim the front derailleur by shifting a little, which moves the front derailleur over but does not change chain rings. I have the opposite issue on the larger chainring and the inner cassette gears and I can get the front derailleur to move but not change gear.
I thought I had followed all the instructions and can't imagine this is by design.
I know not to use largest Chainring with largest cassette gear and vice versa.
If I don't make the Micro shift the chain rubs.

Any assistance appreciated.

Thanks
Allan