The autopilot drive to the helm wheel is via a 'bicycle' chain, tensioned by a bottle screw, in the binnacle. If this is not correctly tensioned then this could cause a minor deviation from centre. There are two chains which move with the wheel, one for the autopilot and one for the steering mechanism - both should be equally tensioned or there will be some movement in the wheel before it 'bites' one of the chains. However, do not over-tighten them. When tensioning be sure to move the wheel backwards and forwards as the chain will only tension on the side of the screw initially.
I am not sure, but I doubt that worn bearings would cause the same problem - especially if the deviation is only to one side.