This malfunction must be on IPS drives. My F53 has straight shafts and a joy stick configuration that can be used that uses the straight shafts with rudders and bow thruster that can imitate the control that IPS drives have. Much preferred option the straight shafts. When yachters see my boat the expect to hear it has the problematic IPS drives. When I tell them it has the straight shafts with the 1000 HP Caterpiller engines, they can’t believe the awesome combination.