you may try pulling just one leg out from the kneeling position and placing it forward to rest it. With the other knee still incontact with the hull it is a very stable position. When that leg/foot feels OK, switch. I think Canadians call it a "relief" position.
It's effective and can be done without going to shore, though I usually need to grab the rails while changing position.
A Hemlock Eaglet would work for you if you are not looking for top notch speed. Looks like a nice one for sale in the classifieds.
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