I prefer a tiller. Many boats, even ones larger than 40' are tiller steered. Tillers give better feedback to the helmsman, are simpler with fewer parts to break, easier to rig self-steering or windvanes to, easier to fix generally, and just more elegant IMHO.
This video of an Open 60 shows how it has a tiller.
IIRC, the large trimaran Brossard also uses a tiller system of a sort, as seen in this photo:
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You know what the first rule of sailing is? ...Love. You can learn all the math in the 'verse, but you take
a boat to the sea you don't love, she'll shake you off just as sure as the turning of the worlds. Love keeps
her going when she oughta fall down, tells you she's hurting 'fore she keens. Makes her a home.
—Cpt. Mal Reynolds, Serenity (edited)
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Still—DON'T READ THAT POST AGAIN.