Longer sheets
Don't know if this will work for you, but it works on my H23.Get longer sheets and tie the stopper knots about 6 ft from the ends so you have enough "tail" to reach the helm even if the cleat slips. If you put a couple of wraps on the winch ahead of time and time the tack right, you can sheet the sail all the way in on the new windward side before it loads up under tension. If you need to sheet in some more, point the boat up a little until it starts to luff. The tension in the sheet will ease, and you can adjust the sheet and then fall off back onto your original course. You won't need the winch handle. I have also straddled the tiller on occasion to free my hands yet still keep the helm under control during tacks. Good luck.PeterS/V Raven