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HI Rick, long time since i have seen an Africa Queen, seem to remember that i used an aircraft flexi lead, this went round the stern and along to the servo. They come in 3ft lengths and replace the pushrod.
Where is the rudder hinged? In some pictures I've looked at it appears to come up through a narrow section of rear deck. If so then hide a drum on the rudder post below that deck and wind control strings around it and routed to another drum on the servo.
Great idea Steve, I was thinking on the same lines as that's how my dad's 22 ft fishing boat was controlled using cables in tubes with pulleys in the corner and a forward steering wheel / helm in cuddy / cabin.