Did some digging and here's what I've got. Hope this helps.
The slow loss of control, along with that burnt hydraulic smell, really points to heat and internal leakage instead of linkage problems. I’d suggest taking a closer look at the control valve and relief circuit on the right side. A sticking spool, worn lands, or a relief valve that’s partially open can generate heat quickly and affect functionality. It’s also a good idea to check if the pump is cavitating or bypassing internally under load, especially if there are any restrictions with the fluid level, suction screen, or return filter. If you haven’t done this yet, pulling a fluid sample and checking the filter for debris could help narrow down whether you’re facing valve wear, pump wear, or contamination.