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On my end, this happens with a DirectInput-related controller (such as the PlayStation controllers) that is not properly calibrated.
The game was trying to use controller as it's default but all it seemed to do on my end was turn my inputs into controller inputs (talking to someone would show as controller X rather then keyboard E). I did change it to DirectInput to fix that but the drift still happens.
I also learned that my spouse does have issues with his targeting. It's only barely working if at all, but I don't have issues with that.
I don't think I've ever set or needed to set a default option to Steam. It just auto detects.