And to summarize the advice given in the past - Your Universal *probably* has a Hurth transmission, which are generally OK in reverse or neutral, your choice. Neutral is a bit noisier and maybe more wear; reverse is quieter but more drag with a fixed prop. Absolutely never leave a Hurth it in forward As it will wear the clutch plates.
With a Yanmar, that usually have Kanzaki transmissions - Neutral is the general recommendation, as the transmission isn’t designed to hold against the torque of the prop if locked in neutral. If you sail in reverse it might jam that way, and if that happens do not try to force it out of reverse.
Replace any of the above with the recommendations of your transmission manufacturer if there are differences.