Years ago I saw saw someone use a small servo as a drive motor for a small boat.
By using this as a motor there will be reverse and fully proportional. This I’d perfect as using a small servo and no speed control has a small foot print.
I picked up a very small wood boat kit from eBay/China that all the parts are laser cut for $10.00 US with free shipping.
My question is how to you do this to the server and what stop do you remove?