I've had good luck with Spektrum s6020 servos, get them at my local hobby shop, about 40$, no shipping and support if I have problems. Tons of torque, metal geared and digital.
I use 4-40 control rods with a Z bend at the servo end and Dubro 4-40 ball links or plain metal clevises at the rudder.
Hitec makes some good servos as does Futaba. Never tried any of the cheapies in a boat, seen a number of the budget servos fail in boats. Figure that when it fails, I lose a days running, order a replacement, pay for shiping from China and wait for it to arrive. I would have been farther ahead to buy name brand locally.
Some people on here have been using Savox servos as well, no personal experience with them.
If my boats upside down then who owns the one I thought I was driving the last two laps?
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