My Gyro Aim Slowly Pulls To The Right Even When I Hold Still

Good news: this is almost certainly calibration rather than a hardware fault, and your reading tells us which kind.

Every MEMS gyroscope has a bias, a small constant offset it reports while completely stationary. It comes from the physical sensor and it changes slightly with temperature and with age. Your 0.4 degrees per second on yaw alone is well inside the range of normal bias for this hardware. The job of calibration is to measure that offset while the controller is still and subtract it from every subsequent reading. When calibration is good, a still controller reads zero. When the stored calibration is stale, you get exactly what you are seeing: a steady creep in one direction on one axis.

This also explains why the in-game recentre only helps briefly. Recentre resets your current aim position, it does not change the bias correction, so the drift immediately starts accumulating again from the new position. It is treating the symptom. What you need is a proper gyro calibration, done on the console, with the controller completely still on a flat surface and left alone for the full duration. People frequently hold the controller during this, or do it on a slightly sloped desk, and get a calibration that bakes in an error.

A couple of specifics that matter. Do the calibration at the temperature you play at, not straight from a cold room, because bias shifts with temperature and you want the correction to match your normal conditions. And if it drifts again within days rather than months, that points at either a failing sensor or a calibration that is not being stored, and at that point the Nintendo stick and motion support route is the right one since they handle motion faults as a service matter.