Sounds like the cylinders might have internal leakage creating hydraulic cylinder voids in fluid . Could be the cylinders themselves or the steering box leakage .
Reminds me of my old straight frame Pettybone - going forward to load bucket as low speed was fine - backing up it would not track in same position as forward .
But if you roaded it you had to go in revers or it wandered everywhere and was next to impossible to go in a straight line .
My 715B TLB has hydraulic steering and when on the road you need to keep steering to correct straight travel - and when you check the steering wheel position it has made a complete revolution or more from when you started driving - slow hydraulic leaking and as is a hydraulic valve it has no mechanical stop or home center position , Yet at low speed you can lock wheels in any position of steer and load pump pressure to cylinder on tie rod
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