I too think the issue could be the rudder servo. Exactly what servo does the OP have in the boat? I had a steering problem in one of my big 10S boats using a quarter analog scale servo. I replaced the servo with an identical one but the problem persisted. I replaced the servo with a digital model and the problem disappeared. The analog servo just lacked enough centering power.
Other things to check include the condition of the plugs - the servo and the pack. And just because a pack shows decent resting voltage doesn’t mean it does so under a load. There isn’t much else.
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