I get Rick's record breaking boats and read that thread when Rick was still a member. I think he indeed has done a tremendous job but my goal is bit more universally usable "camp cruiser" where I can have a kid on board, or maybe he is pedaling in a few years while I make sandwiches on the fwd seat...
And the biggest obstacle for me is not getting things done. Too many commitments outside of leisure. So commercial pedal unit, even if it means 10% efficiency loss, is much more appealing than a super efficient custom dream on a drawing table.
the boat itself is TBD but current design I have been playing with is a "5 panel" hard chine plywood boat a little less than 20ft.
We have 3 meter by 1.5 meter plywood sheets so bit under "two sheets" long.
And outriggers to keep it upright as waterline beam should be narrow and there are no oars or paddles to balance with.
Lakes and rivers and maybe small ventures on the semi sheltered coast/archipelago around here.
Your goals are spot on, I think. Its worth noting that Rick's most full on efficent craft were optimised at around 7 metres, but later boats he scaled back to around 5, as, I suspect, the gains from the extra two metres were fairly negligable. FWIW, my open sailing tri is 5m x .8m, and is a very comfortable camping cruiser for two adults. The 80cm beam even allows two mediumish children to sit side by side. And its plenty swift. Long amas with paddling comfortable between the akas.
I'm very familiar with the 'not getting things done' problem. Paul McCready was a believer in 'quick and dirty', and built the first Gossamer Condor in 10 days. When I built my pedal cat, I was recently widowed, with 2 small children and a full time job. I didn't have the time and energy to build hulls and drive, hence the use of ready made items.
Now I am early retired, (still find it very hard to use the R word!) I am contemplating a rebuild of the pedal cat, same drives, just wanting a lighter boat as it is fiendishly heavy. The sailing tri is light enough for two people to carry fully rigged, and I find that a big advantage.
I'm actually wondering about a monohull with outriggers, but maintaining the side by side seating, as it is so companionable, but even with careful attention to balance, I suspect the amas would have to have much larger volume, and I might as well stick with the cat arrangement.
And I'd recommend prioritising comfortable seats, too.
In terms of simplifying to help getting things done, how much advantage in efficiency does a 5 panel chine give you over 3? parallel sided, with pointy ends?