Yep, mad.
About thirty years ago we did something very similar with a 6hp 2 stroke on a long keel sailing boat through a narrow channel.
I was in my teens and the "handler", religious experience it was.
It worked out BUT as a grown up I often wonder why we did it.
In the absence of an emergency, staying at sea for a few hours more can minimise the risk (and prolong the agony).
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