Yep, had this problem on my A70 for about two years now. One or more hits to the left side manages to straighten it out sometimes. Then the lens got stuck and I used some pliers to rotate it into the right direction. Finally I was sick with it since people (on the plane for example) were looking at me as why I'm repeatedly hitting the camera.
Then two weeks ago I tried to resolve the problem by disassembling. A ribbon from the zoom motor got pinched at some point and I didn't try to put it back together. All in all I have 36 tiny screws taped to a paper with neatly pen drawings of their position. Perhaps some parts can be used in robotics.