We added a kicker motor to our 2017 R23. See our photo album for more details (use the "camera" icon ---->).
We decided on the six horsepower Yamaha installed using RT factory supplied mount. Ours is a 20" shaft Yamaha 6 horsepower four stroke. At mid-throttle with 7-1/4 x 6-1/2 propeller, the engine will propel the R-23 at 4 MPH with no cavitation nor prop aeration despite moderate swells. With main motor down, we steer effectively using the pilot house wheel. In close quarters, using the tiller arm is effective by just standing on the swim platform.
The fuel line is connected to the factory fuel filter/separator with the fuel line passing installed through the transom. We purchased a standard Yamaha fuel tank connection fitting and threaded it into available port on the filter housing. We access the fuel through the transom via a standard marine fuel fill fitting. The original cap of the fuel fill fitting is available when a "watertight" transom is required. We use the fuel line for either the kicker or the generator.
We used a RT factory spec motor bracket from Bolton; this style is specific for certain model years. Our boat is an early production unit, and the swim platform has changed in subsequent boats. Check with Richard at RT for your specific boat.
Let us know if you have questions.