Re Greenlake's tiller system as I adapted it
First some info
I always sail singlehanded , my tiller is 54" long with a clip on 18" extension. Under power I sometimes stand with the tiller between my legs or hand operated.
My adaption of GL's system is a 1/2" line taught between the (2) rear cleats and a bungee cord wrapped twice around the tiller (tiller above the line) and athwartships line. I can still steer by hand or with my legs however the boat does not wander if I step away for a minute.
When sailing I sit in the cockpit with one or the other shoulder against the cuddy. Sitting forward is the best place for the trim of my hull and I can reach all lines from there , halyards , sheets and jiffy reefing and tiller steer with the extension if needed.
When she is correctly balanced there is very little load on the tiller , in a gust she can still round up.
If I get it all right on some days I can steer a bit by moving fwd or aft not touching the tiller. That's a "glory" day
I will try to attach a photo of the setup.
JW