an autopilot is the best way to go
I've tried almost everything from Tiller Tamers to Jib sheet and surgical tube self steering arrangements, but I've found that a tiller autopilot is the way to go. After you get one, you won't want to sail without it. For leaving the boat on the mooring, I use two 5/16 braid lines that go from the stern cleats to the tiller handle. I sewed a piece of leather to the tiller. The leather has a hole that fits over the autopilot pin and prevents the two ropes from chafing the tiller. The ropes are tied in such a way that the pin on the tiller prevents them from sliding down. Anyway, the autopilot can really free you up if you sail single handed as I have done. I've cooked on board, used the head in dire emergencies, layed in the folkshole and read a book with the forward hatch open while glancing at a mirror to check out for anything in front of my bow, all under sail. I don't advocate that anyone should do these things, but sometimes you can sail in wide open areas where you don't get as much boating activity on week days, and it goes without saying, you really need to keep a good watch at all times.