I would say the best thing to do is have one welded up using some 1/4" thick plate for the "U" that goes over the rudder and then use some 1" sch 40 pipe for the tiller it's self
Make sure you have a spare set of bolts and nuts to attach it
Probably would put a set of box open end wrenches and the bolts in a bag taped to the tiller that way in the middle of the night when you would need it all the tools are inplace
I've seen this type used for guys going off shore