Set the tiller offset to a fixed point off the boat. Then move the boat around. This can be done by creating a boat class. Which will make it a lot easier to pass data back and forth.
Psuedocode...
boat_rect = boatimage.get_rect()
Tillerrect = boat_rect.center() #modify center to specific locations
Move boat_rect coordinates and the tiller will move too
Psuedocode...
boat_rect = boatimage.get_rect()
Tillerrect = boat_rect.center() #modify center to specific locations
Move boat_rect coordinates and the tiller will move too
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