Hi Robert,
Yes, counter-rotating props on one shaft effectively neutralize this 'torque steer' effect of one prop. That's why it is essential in torp desin. USS Albacore, what a thing of beauty in design and efficiency. One of my all time favorate sub design.
Volvo duo-prop outdrives: Remember one of their ad slogans, when they came out with it? "Going straight astern, without crabbing sideways" (or something with that meaning). In other words: The weekend sailor does not need to be a navy coxwain to back a single prop boat into it's berth. Which ofc insinuates, he does not need to know anything about small boat handling either. :-)) Rgds, RB