Mark,
I had the same breakout force issue like Brian on that video. The nosewheel doesn't return to center and it's causing this yaw. It usually stays like that throughout the whole flight. Mine did anyway.
Here's how you can check Pull off the front wheel fairing, jack up the nose gear with a scissors jack, make a safety wire loop around the axle nut washer and attach a fish scale to the loop. The breakout force should be 26lbs. If it's loose tighten the nut under the belleville washers and then you may need to drill a new hole for the cotter pin.
Btw, to save you some time, once you split off the front of the wheel fairing, remove the towbar attach bolts and then the aft part of the fairing will slide off towards the back.
If the breakout force is not your problem, you might want to call up someone who is knowledgeable about RV-10s. Looks like Jesse Saint is pretty close to you.
Lenny