Hi paulbin,
as long as the screw is in place, I agree, that a stepper motor (or 2, 3 or 4, depending if you need to position the screwdriver over the screw or if this is done by the guidance of the PCB) should be a good solution for your applilcation.
If there is a chance of significant tilt, things could become very complex:
First you would have to detect the tilt, which could be done by a machine vision system (potentially two cameras required). By the way, a camera might be required anyway to find the initial angle of the slot of the screw. Then you would have to adjust the angle of the screwdriver which might require up to 6 degrees of freedom. So you might end up with a full blown articulated robot here.
On the other hand I could also think of a low cost solution: Maybe you could replace the screwdriver by a kind of a hard rubber tool that could be pressed onto the screw. If this tool has enough friction without pressing the screw too hard, this might be an option.
Jochen