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The answer on the ICW is that I've done it several times with drafts of 5'6" and 6'.
It is really bad in a few spots and you must either navigate carefully or wait for the tide. Fortunately...the worst spots have 6-8 foot tides. You can also avoid those sections by taking day hops from inlet to inlet. So..I don't think it matters too much whether you have 5' or 5'7". It is not too bad to figure out...get some towing insurance just in case...get the inlet guides as well as the icw guides and go for it. Literally man hundreds of boats with 5.5' of draft or more do the route every year. More important is a 65 ft. mast...what does the 47 have?
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