The FOAM design is a slenderized SPRAY and a bunch were built with different rigs, schooner among them. I came across one in Mexico that was gaff schooner with an aluminum hull. IGDRASIL is ketch rigged and was said to self-steer well. SPRAY was the usual east US coast jib and staysail sloop, much like a cutter but with the mast farther forward. When JS left on his voyage, still sloop rigged, he spoke to a reporter about rigging it Chinese with a mizzen, so the idea was there from the first.
BERTIE self steers wicked good, and I've sailed a wide range of square rig, marconi, gaff rigged and a few Chinese lug boats and ships. I hate steering, bloody waste of time, so love it when I can drop the mizzen (throwing the CE fwd), put a reef in the main (put CE further fwd) and sheet the jib in pretty tight on its 16 foot outboard bowsprit. This makes a little lee helm, the short tiller is tied off and fiddled with until balance is found, then off she goes, dead downwind if you wish, but a point off the quarter is better, for days at a time and never jibes. Damndest thing I ever saw. The SPRAY "perfect balance" seems to have carried over into the modified BERTIE, and the yawl maybe has something to do with it, as one can really have control over the CE and thus the steering.
BERTIE's keel was laid beginning of 76 launched 84, so 8 years but there was a couple of wives and some kids in there too, so she really took 3 years of building, single-handed almost all the time. Today easily done in a year and a half, or much faster with a crew.