Phil, I agree the systems are robust but the UT team used about 3000 dollars worth of commercially available equipment to spoof the yacht, and the professor who over saw this also according to the Register, "Last year Humphreys demonstrated how the same spoofing technique could be used from 1km away against a GPS-guided drone to an audience from the US Department of Homeland Security at White Sands, New Mexico."
Texas students hijack superyacht with GPS-spoofing luggage
And doing a quick internet search of GPS jammers I found Several pages full of sites offering them for sale, granted all have limited range and are for denying GPS signal and not spoofing, but they are not that cost prohibited. Here are a few examples.
Anti-Tracking GPS Signal Jammer Car Vehicle Blockers
https://www.jammer-store.com/gps-blockers-jammers/
https://www.thesignaljammer.com/categories/GPS-Jammers/
And I agree we, as recreational sailboaters would not normally be the target, I simply posted a related article to TakeFives post. But whether jamming or spoofing the cost to do such is not really that prohibitive, while the examples above are for short range jammers, the most powerful I think state around 70 meters to isolate a location. Spoofing could be done on the cheap too, the UT team used around 3000 dollars worth of commercially available gear, there are GPS/Glosnass/Galileo software simulators available for free on GITHUb on needs only to have a laptop and a SDR, Software Defined Radio to set up a simulator, and if you can simulate, you can spoof.
The optimist in me says nah never happen, the pessimist in me says why hasn't it happened and the realist in me says this could happen.