I think you're overthinking it. Every time you go sailing you're practicing a zillion things you'll use way more often than MOB or heaving-to.
If you want to include that stuff, pick someplace to do it, navigate to that spot, do your drill once, and then go back to having a good time (realizing that all the while, somebody is practicing helmsmanship, somebody is practicing sail trim, somebody is practicing navigation, etc.)
s/v Laelia - 1978 Pearson 365 ketch
s/v Essorant - 1972 Catalina 27