In Dicaffeine there is a build-in support for PTZ, both as a receiver or sender.
For sender it's easy to control the stream directly from the GUI or via joystick.
Receiver requires additional configuration of GPIO pins in:
/etc/dicaffeine/dserver.json
on line:
"ptz_gpio": [17, 22, 23, 27],
you can use the default configuration or edit the pins as described on official Raspberry page.