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Yara said..
The problem is not so much the bracket, but rather the overall geometry of the boat and motor. Looks like the best situation would be with an ultra-long shaft outboard with forward controls. Tohatsu used to make one, but I am not sure if they are still available.
Getting rid of the "princess" seat would also make access easier.
Is there an existing inboard, or at least shaft and stern-tube?
No, there are really only two problems. The flimsiness of the existing bracket and the fact it is too close to the transom and difficult to operate. The engagement of the motor with the water is fine and I have forward controls. I mostly sail (race) single handed and the "princess" seat (hadn't heard that term before) is a great spot to keep occasional guests out of the way.
No inboard although engine beds were part of construction but the cost of fitting and inboard and all that goes with it is way out of the budget.