As in life, so it is with diesels ............... DO NOT go for the most complex and expensive solutions first. Leave them to last. Not being able to haul out simply makes finding the problem even more difficult.
With a problem such as what you describe, after you eliminate the obvious, the first thing you want to look at is the prop shaft alignment. The biggest item you will be looking at is the angular alignment.
I think it safe to say you don't yet have a copy of the Yanmar maintenance manual as suggested to you in your post "
my remote fill is in the lazzertte under the seat in the cockpit. I'm also pretty sure you haven't a clue as to what I'm talking about when I mention angular alignment. Read and learn with the attached item on alignment.
You are now the proud owner of a 37 year old boat. It may or may not have had proper maintenance done over the years. You're going to have to accept that either you learn a whole lot about boats in a very short period
OR
You hand it over to a certified mechanic who will cost you big bucks from the get go. If he's an uncertified mechanic, he's going to cost you more than the boat is worth.
RECOMMENDATIONS :
1. Check that your prop shaft alignment is reasonable. No cost.
2. Seeing as how your boat cannot come out on to the hard, look through the archives to see how to pack a stuffing box in the water. Also see
Marine How To - DIY for Boaters - Marine How To to see what a stuffing box is. Under $10.00 if you have a reasonable selection of tools.