It needs thrusters, because there are still some small forces acting on the probe. For example, asymmetrical emission thermal radiation may rotate the probe slowly. This accelerated the Pioneer probes somewhat, see Pioneer anomaly. So without correction you can’t keep the orientation for years. Every tiny force would accumulate over this timescale.
The thing is, now we have one 1-2 3.7 meter sized antenna on the voyager probes and a 100 meter sized antenna on earth with high transmission power. Signal decays with distance squared. To get the same signal power to the voyager probe assuming an relay in the middle, it would need an 25 meter antenna with the large transmitter/receiver currently on earth on space.
In short it’s easier to build a 4 times better transmission system on earth than in an relay in space.
One point where relays are used are mars rovers. There the orbiter has an large antenna and is close to the rover, so you don’t need to land the large antenna at the surface.
Edit: fixed antenna diameter
If you haven’t read it already, try the new book “Project Hail Mary” also by Andy Weir. I found it even more enthralling.
I was always annoyed by this question for the same reasoning. However, as another person already said, you can sometimes feel it in some part of the body. When feeling bad, it feels like pressure in my stomach, there a a few other.such connections. Now I find it somewhat useful as part of mindfullness.
I do still get annoyed when asked this question, partly because whenever he asks the question i do not feel it anywhere, also it seems irrelevant. But the main reason is probably defiance that this seemingly stupid question of him was sensible all along. So much I had to write this response.
Out of interest I did some estimates and it seems that an asymmetry of three billionth of the total thermal radiation would be enough to rotate the probe once over a timescale of 10 years. So if the radioisotope generator has even just a tiny bit of a different infrared brightness on one side, it would turn voyager in a few years.
notes on calculation
Voyager weight: 815 kg
Approximate Diameter: 1 m
Assume mass and thermal radiation emitted with a center distance of this diameter. Then we can calculate as it would need to move 2π 2 m. It should be enough as coarse estimate and underestimate the acceleration. Distance to move: d = 6.3 m
Assume constant acceleration due to thermal radiation
RTG power at start: 3 * 2.4 kW = 7.2kW
RTG power now: 7.2kW * 10^(48/88) = 4.9 kW
Total of thermal radiation: 4.9kW / c = 16 uN
distance moved: d = a t^2 / 2
assuming 10 years accelerated movement movement:
a = 63 mm/yr^2
F = 52 fN
3 * 10^-9 of thermal force