Raymarine provides clear alternatives in the installation section of their tiller pilot manuals. Consider mounting the socket in the seat (or lid of the lazarette) and mounting the pin that the rod connects to on a bracket affixed to the underside of the tiller. I was very satisfied with this arrangement on a previous boat.
We did exactly this on our boat. Raymarine sells the tiller bracket for $45-50, but I had one made by a local machinist for $20. When the autopilot is not in use, all you see is the bracket and the socket sunk into the cockpit locker lid. 3,000 miles without a hitch.
Here's a picture of our setup: http://www.taketothesea.us/static/51...61673012/1000w
I wish I had a better shot of the bracket itself, but there's a good diagram of it in the Raymarine manual anyway.