As far as I know the TR1 is the only autopilot option for a kicker motor. The question of whether it could handle your boat depends on whether it's possible to effectively control your boat with the tiller. If you can make your boat do what it needs to do by manually steering the kicker with the tiller handle, then the TR1 will work for you. It is definitely compatible with yamaha 9.9 four strokes motors. They offer a custom bracket for your motor as well as a throttle control so you can have throttle control and heading hold from one remote. I am in the process of installing a TR1 on my own boat. A few years ago I went on a charter to learn the basics of trolling and the captain had TR1 on his boat and I was very impressed. I made a mental note that once I have all the basic gear that I'd get a kicker with TR1. If you have an I/O, it might be possible to install an autopilot on the main and have it control the kicker via tie bar.