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Try disconnecting any controllers you might have connected and reconnecting them. This sounds like either a button/joystick was being pressed while a controller was connecting/disconnecting, or that one of your joysticks is faulty and drifting.
make sure only 1 controller is plugged in/connected
maybe its out of calibration because of use? thats completely normal and part of normal wear and tear, it just needs recalibration
if its faulty thumbsticks you may need to replace the controller or thumbstick unit
hope this helps