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I saw a tee shirt recently somewhere - 'Wind, the free fun fuel for your boat!'
For just bopping along, I imagine steering with the boat's rudder with the motor dead ahead will work best. The rudder has good authority with a little water flow.
You'll probably notice a pull one way or the other. Likely you have little to no prop walk, but if the motor is pushing off-center you'll get a tendency to turn. Just bump the motor tiller a little in the direction you're having to push the boat tiller. If you're pushing the tiller to starboard (helming to port) push the motor tiller a bit to starboard.
On our Picnic Cat, I've found a use for the motor a little off plumb. If I've got the mast down to get under a bridge it really cuts visibility. So, if I'm standing on the port side of the cockpit I will keep the motor tiller a little to port (turning the boat to starboard).
That way I can steer with my knee against the boat's tiller. The off-center push from the motor keeps the boat tiller against my knee. Push farther, and I turn to port. Ease my knee off the tiller, the boat wanders to starboard from the motor push.
Or I can stand defiantly on the quarterdeck, hands clasped behind my back with a flinty gaze over the horizon as my boat seems to steer herself.
I don't often do that, though. That's about the time a sea gull will poop on me, or some other return to reality will crop up. Sigh.
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