Perhaps if you try an experiment.  Go out and fly your plane.  After you are to a safe altitude have your autopilot make a standard rate turn.  Then as it starts to stair step or wing waggle watch the ball in the turn coordinator carefully.  Apply rudder to keep the ball centered and see if the waggle goes away.  I also found in my 172 that the rig was incorrect, when I fixed that a lot of the problem went away.  In fact I love the autopilot now.  If you would like detailed information about what I found on my aleron cable bellcrank rigging, please email. 


Jeff