Singlet-triplet qubits offer an attractive encoding for semiconductor quantum computing, combining ancilla-free readout, reduced sensitivity to common-mode noise, and baseband voltage control. However, the Zeeman energy difference Δ EZ is typically fixed by local magnetic field gradients or g-factor inhomogeneities, leaving the exchange interaction J as the only dynamically tunable parameter. This always-on Δ EZ precludes orthogonal control of the qubit's rotation axes and introduces unwanted state rotations during idling. Here we demonstrate all-electrical orthogonal control of a degenerate singlet-triplet (DST) qubit formed by two hole spins in a germanium double quantum dot. Exploiting the electrically tunable anisotropic g-factors of the two spins, we identify a regime where both Δ EZ and J vanish, making the S and T₀ states degenerate at the idle point. By applying only baseband voltage pulses, we independently control both J and Δ EZ, enabling fully orthogonal Z- and X-axis rotations. Randomized benchmarking yields an average physical single-qubit gate fidelity of 99.53% for a gate duration of approximately 100 ns. Finally, we electrically tune the degenerate point across a wide range of magnetic field orientations, enabling operation in a regime of enhanced coherence time and offering a route towards multi-qubit scaling under a shared global magnetic field.