The Azure Spirit is a speedboat with a 3D Printed outboard engine capable of being tilted via TX.
It took a bit of brain-power to figure it out, but it does work.
Instead of having a rudder servo fixed in position, the servo is mounted on a slider. See image A.
A second servo or motor is then connected to the slider to turn a threaded rod. (I used a turnbuckle from the local hardware store, but a thread with greater pitch will be better as the movement will be quicker).
The second servo (trim servo) must be fixed in position. In my case it is mounted aft.
As the threaded rod rotates, the rudder servo is pushed to bow and the outboard is raised (pulled up).
If rotation is reversed, the rudder servo is pulled aft and the weight of the engine lowers it into position.

Image A is the blank servo slider.
Image B indicates the mounting of the rudder servo on the slider.
Image C is the set-up.
The last image indicates the steering links. For testing, I used braising rods. Put you can use a pull cable if the motor is heavy enough to drop on its own.

Here is a video clip to show the speed of movement.