Tiny hydraulic leak back past the pistons in either the ram or hydraulic
pump. Used to happen to us on our
rib. Stern drive had
hydraulic steering and due to the huge torque from a
single propellor the
steering wheel would slowly need to be turned in one direction more than another. However, it only affected us on long passages in a straight line so ignored it.
For you though it will make a mess of any
autopilot steering system that transmits drive via the ram. The solution would be to use a local truck hydraulic firm to
rebuild the ram and
pump.
Pete