Yes, this has been done by a few with some success.

Most use a small tiller pilot and attach it to the pivot hinge device where
the normal wind sensor vane 'would normally be'. (it won't work properly
unless you remove the wind sensor vane.)

I have tried it on my Aries windvane but it wouldn't work while motoring
because of the proximity of the Aries servo rudder to the trailing edge of
my stern mounted main rudder. The prop wash coming off the rudder varied
considerablily as the main rudder shifted to correct the boat course. This
prop wash just drives the servo rudder 'hard over'.

I have experienced this same problem while trying to use the windvane, in
it's conventional mode, while motor sailing.

If you have an inboard rudder, I don't think you will have any problems, as
I have discribed. I would suggest that the windvane servo rudder should be
in relatively calm wake.

--
My experience and opinion, FWIW
--
Steve
s/v Good Intentions