Steering: Torque or Friction?
With an inboard you will commonly find that the stern walks to port in reverse.
(Unless you have a Volvo inboard diesel)
It's worse when starting from a standstill, when the rudder has no initial water flow over it. Going forward, most sailboats will have some "torque steer" -- the severity seems to depend on how close the prop is to the rudder, and whether the builder chose to slightly angle the propshaft, like the older C&C's.
So, it will vary with the model of boat you have. We 90% cured the reverse problem by going to a feathering prop several years ago. What with less drag under sail and the additional thrust in reverse, we justified the cost. (But then, we sailors always find a way to rationalize spending money on our boats...)
Now, OTOH, if *friction* in the steering is the problem, you will need to see if your model has a grease fitting in the FRP molding around the rudder shaft, and if grease is actually getting through it, and... if decades-old grease has combined with salt crystals to harden around the rudder shaft... drop the rudder and clean up the shaft and tube and start over with new grease...
I should also add that some boats have no "balance" in their rudder design and their helm will always feel "heavy" and less responsive. Look at your rudder profile and see if it has any area in front of the shaft entry. This area in front of the pivot point balances the "feel" on the helm. I have sailed boats with zero blade area forward of the pivot point and they felt heavy and also were quicker to develope weather helm. Remember the early 70's C&C's with the Scimitar-shape rudders and the old Tanzers?
"It's always something!" as Rosanna used to say on SNL...
Best,
Loren in Portland, OR