I am not aware of a tiller pilot made not requiring an extended ( cantilevered ) bracket. My boat has a removable L shaped stainless tube that
sits in a socket on toerail. When not in use it can be removed though I usually just leave it in place. I have an older usable tiller pilot available
( spare ) which came with a BCC that I owned previously. You are welcome to it for the cost of postage.
Given the narrow confines of the aft cockpit area I am not sure there is another solution.