"I would like a boat that has no limitations "
No such thing, Pete.
You need to come up with a "business plan" that states what you want the boat to do and where you want to go, and then find the boat that suits it. Shoal draft is necessary in some areas, worse than useless in others. About the only thing you've defined is "longer cruising" which means you'll want a boat with adequate capacity for tankage and stowage on it.
Rudder problems at sea? Well...yeah, rudder failures in older boats are becoming surprisingly common. Somewhere out there are lists of recommended bluewater boats, generally stronger, more well-balanced, with the capacity to go out further and longer with less modification. But you'll also pay more for those, and generally they'll make worse liveaboards as they'll also be narrower with less room below.
Wanna see Scotland and the UK? You'll need a "north sea" capable boat, rather different from an surplus Moorings Beneteau shoal draft that you might use in the Carib.