FWIW Sean did test a configuration using a windshield wiper motor and a winch driver, finding it more efficient than the tillerpilot.
https://www.youtube.com/watch?v=ZaLBRRelT-M&t=32s
However this might be more clutter in the cockpit than some desire.
https://www.youtube.com/watch?v=ZaLBRRelT-M&t=32s
However this might be more clutter in the cockpit than some desire.