Sure there is. It's simply called stabilization. The only difficulty would be finding suitable markers, so there may still be a lot of manual work involved.
The best solution would to buy a better tripod and pan head. It will cost less than a 4K camera with a decent 4K lens and better camera work will save you a ton of time in post. Stabilizing a very long shot will eat up a ton of system resources. The longer the shot the greater the chance that stabilizing will fail. That's just the way it is. If you have an hour long sermon that you're trying to stabilize without cutting it up you're going to run into a lot of problems. That's just the limitations of the software for now.