The problem *is* cavitation (it doesn't matter what speed it happens at
or why it is happening, if the prop is running partially in air it's
cavitation!)
I suspect your rudder vibration is probably caused by the cavitation,
solve the cavitation and I'll lay odds you'll solve that too. (A
cavitating prop generates a maelstrom of broken wash which will be
hitting the rudder)
The solution, since redesigning the hull isn't feasible, is ballast. Get
the stern deeper in the water.
HTH
Bru
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