I don’t know that this solves the OP’s issue, but it seems like an appropriate place to document my autopilot troubleshooting exercise.
Symptoms:
The autopilot would run correctly for the first 5 to 10 minutes. Then the wheel would stop adjusting. If I nudged the wheel with my hand, it would start working again for a minute or two. This worked for two or three iterations and then quit working entirely.
Process:
I called Raymarine and was assured that the problem was that the power cables to the drive were of inadequate gauge. Wasted time and money replacing them. No change.
Called again, spoke to a different tech who assured me it was the drive transistors. Wasted time and money ($300) replacing the drive circuit board. No change.
Gave up. A year later I thought “This is silly, having an autopilot and not using it “. Called again and spoke to a third tech who immediately said the problem is worn brushes in the drive motor. Correct! A previous owner may have left the autopilot on for weeks or months at the dock, wearing down the brushes with constant minor adjustments.