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If your're thinking of using the coolant, look at plate heat exchangers. To be realistic, figure about 30% of the engine's actual generated power being avilable in the coolant. If you're doing domestic/potable water heating, you will need to look at double-wall heat exchangers for safety...
Just make sure you don't hyper-cool the exhaust - if you get it below the dew point of the exhaust (somewhere around 130°F/54°C), it'll rust out quickly. Also on an engine with a turbo, you're not going to see much more than 15% of the produced HP as exhaust heat energy after the turbo.
I...