My apologies for the quality of video but I wanted to demo the current physics model.
The red arrow is the velocity vector which is showing some leeway which is good. The PID is a controller that is trying to maintain a dialed in heading. Surge is the forward speed in feet per second.

Time is accelerated and the rudder force is excessive to show motion and response testing:
https://youtu.be/iozDpX3plp4