Is there anything that can be done to fix a controller with stick drift due to damage? And...

Hello Joseph, this is Manuela. I'm an Independent Advisor and community user like you, ready to assist with this.
Not a Microsoft employee.

I'm sorry to hear your controllers are experiencing stick drift. If the controllers are out of warranty, I'm afraid to say that you need to get the device repaired in the closest repair shop available in your city.

If your controllers are within warranty, you can ask for a replacement here:
https://support.xbox.com/help/hardware-network/...

As a reminder, I would like to let you know that it's possible to assist with self repairs

That's called stick drift and has nothing to do with this firmware issue. Your controller is broken, you can have Microsoft fix it for a fee or replace it. But no software update will fix stick drift.

Stick drift is usually caused just to simple wear and tear or accidental damage such as dropping it, I am yet to have stick drift on an xbox one controller, I did get it a lot on 360 though, If its out of warranty then you can always attempt to replace the
damaged thumbstick sensors yourself (soldering iron required)

Unfortunately if the control is out of warranty then microsoft will not cover it for replacement.

OP, can you state what exactly the issue is that your controllers are failing on? Is it stick drift, buttons not working, casing damage, battery/power issues?

Unfortunately stick drift is common with all controllers form all platforms and occurs due to wear and tear.

The only way of fixing that issue is replacing/warrantying the controller or replacing the thumbstick sensors in the control yourself (requires good soldering skills)