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I would look into your propeller situation. The current propeller may be fine or need replacement but I doubt it is influencing the steering difficulties.

It has always taken a couple of outings for me to get used to how a boat handles. I always have a tendency to over correct when the boat starts to veer from the intended course. It just takes a while to learn how much to correct. In time the best amount of steering input becomes intuitive and should be no problem.

I would think that a 17 Dauntless at 6 knots would be plowing. Try idle speed in no wake zones. Your boat will make far less wake, be easier to handle and burn less fuel and you will be less apt to attract unwanted attention from marine law enforcement.

If you want advice on the best propeller for your Dauntless start a new thread on the subject.