I had the same delima and recently solved it with the ultrex. I've had a lot of TM since my Sears Roebuck Ted Williams signature model. The last one was a 12 volt 55 lb terrova ipilot on my 17 1/2 ft tracker. It was fine trolling etc. in open water with remote, but was almost impossible for me to menuver and hold tight in cover with foot pedal.
I recently replaced it with ultrex ipilot link 24 volt 80 lb. The remote is great for hands free open water trolling etc. The foot pedal is awesome for menuvering in tight cover. 80 lb is a little over kill for my boat, but I'be enjoyed the additional power. It's the smallest they offer in ultrex. The ultrex will easily do both, plus some.