My first choice would also be TIG welding. My moderate TIG skills would probably require that this work is done OFF the
boat, as tubing is tricky- providing every conceivable angle of difficulty.
Stainless steel is WAY easier than
aluminum IMO, as the heat won't dissipate so quickly. (IE the sweet spot between burning through the tube and not enough heat is easier to hit)
If you insist on set screws...
One set-screw trick used on Speed Rail (Hollywood's tinker toys) is to toss away those short ones and
purchase longer versions that will reach THROUGH to the opposite inside of the tube being clamped by the screw. This is very similar to an earlier suggestion, but involves simply drilling one hole (where the original set-dimple mark is) just large enough to allow the (new, longer) screw to pass through (untapped), and continue on to pinch the same tube, but from the inside-out. If this ever gets loose, the joint won't actually SLIP out- it will just wobble. (at least until until the LONGER screw can wiggle WAY out, an inch or more)