Hii,
Sorry, I didn't see the "out of warranty" message. This issue can usually be analog stick drift or an internal problem.
https://support.xbox.com/en-us/contact-us
If you log in with your Xbox account, request to open a chat and select "I want to speak with a representative." They will ask several questions; if you say "physical problem," speak with a representative, and they will direct you to an Xbox agent.
Thanks