Hi Brian
It would be helpful to have full details of the issues you have had with your options so far. Why have they proved ineffective and “not responsive or robust enough” ?
For my contribution:
I have used two alternative push rod set ups on my mono boat. The initial set up is best explained with the photo below. A dubro ball link (on the bell crank) connected to the push rod to the servo (not shown). This set up failed when the butterfly valve got stuck open and the carb return spring failed to shut the engine down. With this set up the big danger is that the linkage pushes the throttle arm open but has no way of pulling it closed should the valve get stuck open. With this set up when the throttle is fully open the bell crank arm is exerting force (towards the transom) parallel to the butterfly mounting shaft which with my engine caused the butterfly to grind against the internal alloy barrel causing the “sticking”.
My solution to this issue is shown in the second photo. The servo push rod now connects to the steel bell crank arm and can now pull the throttle closed as well as pushing to open it. The return spring on the butterfly shaft keeps the set up tight for throttle sensitivity (with no natural play in the joints). The short steel pushrod between the bell crank and throttle arm is crude and would be better with ball joints. However it has worked faultlessly for the last two years.
My new boat will incorporate a neater version of this set up but with a Bowden cable instead of a push rod because the distance between the servo and engine is much bigger.
Cheers
Craig