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I'm no expert but I'd say that at some point there are collision_helpers that get into a position that should not physicaly be possible, and then react rather abruptly to it.
(If I got it right too, that's what the red boxes mean, that the collision_helper has some kind of problem)
Try to avoid dynamic collision_helpers for the structure of the boat ?
Or wait for an actually skiled person to pass by.
Good job