From a different perspective: find out your torque peak rpm and take advantage of whatever is there for you as it sits. You'll want to use a tachometer to hit the mark. I find it really helps with my small block (4.7L) Tundra towing a toy hauler at 4500 lbs. Drive that sucker!
Fair weather to you on your new adventure. And I am sure it's been said but bears repeating "a sailboat is an RV".
I and many others have greatly enjoyed sharing your journeys.
Remember that poor quality internet service is available just about everywhere, so keep in touch!
I have a bed rug bed liner in my truck, it's covered closed-cell foam.
The best part is it fills the recesses and levels the truck bed at the same time it presents a comfortable surface to lay on.
Just an idea that may help you get closer to your goal of sleeping well.
Cheers!
Jim