The options I can think of are very expensive:
Going to hydraulic actuators would allow you to use a more robust autopilot
system and will only set you back about $25,000 US with installation
Rerouting to bell cranks and a hidden cross bar would require re-engineering the Ackerman geometry, as would going to a pull-pull cable system. Without Ackerman geometry, you are guaranteed to go into irons when you tack. Another stiff price
I owned a Simpson Wildwind 34 footer with a rack mounted outboard engine
in the middle of the aft bridgedeck, and though I wanted to hang a dinghy
like all the other cats had. Was not to happen. Besides, there wasn't enough bouyancy aft to support the extra weight. So even if you have two engines, you would be well advised to extend the transoms if you are locked into dinghy-on-davits mode.