The expansion of space doesn't affect the orbit of Saturn. And I don't think the smallest acceleration that can be measured is the right approach.
In Newtonian mechanics, the orbit of Mercury would be a perfect ellipse if nothing disturbed it. But there are other planets. The main disturbance is Jupiter. but all the planets contribute. The net result is that the orientation of the ellipse is predicted to rotate by $532.3035$ arc sec/century. One of the long standing mysteries of physics around 1900 was that the measured rate was $574.10$ are sec/century. When Einstein developed General Relativity, he was able to explain the missing $43$ arc sec/century as an effect of the curvature of spacetime. It was a triumph. See Tests of general relativity
$43$ arc sec/century is small, but measurable. Saturn is harder. Equation 1029 in this site makes it easy to calculate for Saturn. Here are a couple links of orbital parameters and periods. I get $0.014$ arc sec/century.
Another page from the same site shows how to calculate orbital perturbations from planets. For Saturn, the predicted precession is $18.36$ arc sec/year. The observed value is $19.50$. So it appears that the effect of curvature is at the edge of what can be measured. But it is swamped by uncertainties in bigger effects.
Curvature of spacetime, aka force of gravity, can be directly measured in the lab. As you said, it isn't hard to set up a torsion balance that can measure the attraction of $1$ kg masses. This was first done before $1800$ in the Cavendish experiment. The Eötvös experiment is a very precise version of the same idea.
The slowing of clocks in gravity and the gravitational redshift of light that travels upward can be measured. GPS would not work without corrections for General Relativity.
Two jets carrying precise clocks flew east and west around the world at high speed. Afterward the clocks disagreed by the amount predicted by General Relativity.
General Relativity matters for this kind of precise measurements. For every day work, Newtonian mechanics is good enough. It isn't a question of if spacetime is perfectly flat. It is if spacetime is flat enough not to notice. Typically when two $1$ kg spheres roll on a flat table, their gravitational attraction isn't noticeable.
The smallest acceleration I can think of that is relevant to curved spacetime is in LIGO. Gravitational waves are minute disturbances to spacetime. To measure them, LIGO has 4 km long cavities that must not vary in length more than a ten thousandth the diameter of a proton. LIGO is sensitive to waves at about $10$ - $100$ Hz. Given $d = \frac{1}{2}at^2$, $a$ must be less than $10^{-24} m/s^2$