Rudder feedback linkage or sender failure was my first guess.
APs that I've used stay on the compass heading sensed when Auto is pushed. You usually need to do something further to get the AP to chase a waypoint.
On my current Capilano hydraulic/Raymarine ST6001, I can temporarily overpower the hydraulic pump by spinning the wheel quickly. Not enough to dodge a boat but will dodge a crab pot float.
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Archie
Irish Lady
1984 Monk 36 Hull #46
Currently in Cape May, NJ
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