What about compressed air? It might not be too hard to find a small brushless low power air pump that could drive pistons directly.
You could mount the pump controller onto the back of the panels and use an accelerometer to measure angle, and run the pump until it's where you want it.
You'd probably need to do some testing and make sure it couldn't get jammed, then build up pressure, then suddenly unstick and move unsafely.
Last year the 550W panels here dropped to 90eur, and so I just added some more panels to remove the need for the switchover. I saw last week 600W panels going for 80eur but no space left, but tempting. Good luck! It's a nice feeling to have energy independence.
https://www.youtube.com/watch?v=I-Fz5T5c0OQ
Best of luck =3