Sure, I feel the best idea is to mount on a bracket on the port transom. This moves the outboard back of the main sheet and rudder both of which will tend to snag it you just hang on the transom.
Point the outboard slightly off to port so that the boat goes straight lock it in place and use the normal rudder to stear. Not as manouverable as using the outboard but at least the rudder does not need removing.