Yes, unfortunately, you can’t adjust caster with the stock upright. There is no provision for the connection to the lower arms for the upright to pivot fore and aft. Your upper arms make it look like you can but it’s not possible. You can put the upright under tremendous strain and get a bit of adjustment but that’s a bad idea.
You can do it if you convert to the Canely uprights with the spherical lower joint. Not cheap but they work very well.
It is somewhat normal for the steering not to return to centre automatically. It can be improved somewhat by making sure you have as little stiction as possible in the steering mech. Check your rack’s pinion adjustment is not too tight and lube the rack with gear oil rather than grease. If you changed the steering column’s bushing, this is another source of stiction. The new bushings are a bit snug and take a long time to bed in.
Again, though, there is not a lot of self-centring force designed in. Nature of the beast.