My wife built a Victoria about 2 years ago and it was a very successful introduction to model boat building and sailing. We used a Futaba 3003 servo for the rudder and a 3014 high torque servo for the sail winch. The radio system was operated from a 6 volt battery pack to improve the servo output torque to Futaba’s figure of 6.2 Kg.cm, roughly double what you have now.
We also made a few minor modifications to the sail control system. We used monofilament fishing line with a smear of vaseline for the line which is directly driven by the servo arm. This reduced the friction compared with the stranded line supplied by Thunder Tiger. We also slightly rerouted this line to minimise any un-neccessary bends where it ran aft out of the hull. She sold the yacht last summer so I cannot show you any photos of the mods we did but it did sail very well, as good as the 6 or 7 other Victorias that are sailed at our pond.