An agricultural system includes a baler for picking up and compressing crop from a crop swath in a field and a tow tractor. The baler is towed by the tow tractor via a draft hitch arrangement, which draft hitch arrangement allows a baler pickup track to be laterally offset from the tractor driving track with respect to the tractor driving direction. During baling, the baler pickup track is aligned to the crop swath for picking up crop and the tractor driving track is laterally spaced from the crop swath with respect to the tractor driving direction. A steering system autonomously aligns the baler pickup track onto the crop swath.
