Alot depends on the surrounding conditions as to whether or not you'll have to keep your hand on the steering lever. Leaning while pedaling can be an issue, having something dragging in the water beside you (anchor not pulled in all the way, bait bucket, etc.)...OR... It could be something as simple as having the more sensitive steering hub installed, causing you to over steer. That was my PA's problem
...You might want to check with your dealer to see which hub is installed on your PA?
When I purchased my PA new, I hadn't test drove one before and the first time out, I was very upset because the PA refused to keep a straight track. I had to constantly make course corrections, which was very distracting. I couldn't enjoy the ride because I was always focused on trying to keep a straight track. Anyway...When I got home I called my Hobie dealer and explained my gripe. He told me that Hobie was aware of the problem. I was told that because the PA's steering was so sensitive, with each correction that I made, I was over correcting causing it to wag like the tail of a dog
...Then I was told that I would get use to it and the problem would go away...NOT!!!...The problem didn't go away. I was ready to return my PA, when my dealer then told me that Hobie had designed a different steering hub that should solve my problem, and Hobie would give it to me free of charge...I chose that option because I loved everything else about the PA and didn't really want to return it...
Well...After getting the new hub installed, I rigged the steering line to be as tight as possible to allow NO slack in the rudder, and also adjusted the tensioner so the rudder wouldn't be moved out of position if hit by a strong current or wave going under the PA. Then with the rudder down and centered with the keel, I made an alignment mark on my steering lever assembly so I'd know the exact position of the rudder that should make a straight track. Now when the alignment mark is lined up, the PA tracks great. Theres no guess work in trying to figure out exactly where the center line rudder position is supposed to be for the PA to track straight. I can take my hand off the steering lever, and not worry about making those constant, annoying corrections...Its not perfect though...If you go through water where there is alot of turbulence and/ or chop, such as strong surface currents going in all directions (caused by wind, power boat wake, waves, etc.) you'll still have to make some corrections...And it seems that the slower you are going, the more you are affected by those same forces. When I installed my trolling motor the steering improved even more, without using the motor to steer.
Please forgive my writing a book here
...I don't know what exactly I did that has enabled my PA to steer a straight course. I believe it was more a combination of things and not just one thing, if that makes any sense
...I hope I've helped answer your questions, and not just made you more confused