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Roller door electric wheel drive
#1
Probably already discussed somewhere, but strikes me, without thinking to hard,that a garage roller door opener could maybe be used as an electric wheel drive. See them at the scrap yard quite often and they are relatively cheap new.

https://a.aliexpress.com/_msLFQKt

-uses a windscreen type dc motor although usually 24vdc
- robust/ plenty of power and about the right speed (or maybe too slow?)
-has a ready made mechanical switch to go manual
-outdoor rated type housing
-has two prongs to engage  the wheel arm
-no belt to wear out

The one in the link  is 18cm thick with prongs, so u would need about 10cm clearance between wheel and binnacle. You have the challenge of getting the helm wheel hub through it, or modifying the through-hole bit.
Perhaps could be mounted on the outside of the wheel but you would need to somehow to secure it. Then almost becomes a portable unit that you could put on any wheel - move  it to your car steering after a busy day on the water, so you can take a nap.
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