Corrosion Concern
If the interface between the rudder and the rudder shaft is examined there will no doubt be some corrosion there, maybe even some pits in the steel.The concern I have is the design of the rudder post is such that it is the minimum size for the forces it will encounter. If this is true then once it is bent the metal has passed the elastic limit (maximum stress a metal will withstand before permanent deformation occurs) and, additionally, the corrosion at this very same interface will cause weakining of the shaft. So there two things: (1) possible corrosion, maybe going 1/16-inch or more into the metal, and, (2) the metal stock having passed the elastic limit. Don't think of the rudder post has "just being bent", think of it as having already failed. Bending it back may cause it to be straight but will only worsen the situation.Given that the rudder and steering system on boats is natoriously a weak point when things get bad, my suggestion would be replace it. Granted it will be expensive but, as they say in flying, "trouble comes in bunches". You don't want rudder failure at the worst possible time.