Another option is a servo that provides more throw out of the box. I am using GoBilda torque servos, which provide 180 degree rotation as supplied. if a Servo Morph is added to the circuit, the servo will provide 300 degrees rotation. They run around $35 US. GoBilda will sell direct.
https://www.gobilda.com/ Make sure that you choose the Torque version, as the speed versio is too weak for a sail servo.
As for your ESC, it is a separate issue and it sounds as if you have a car ESC, which will lack reverse. the other possibility is that your FrSky radio is set up for an aircraft throttle, rather than a reversing marine throttle. I am running FrSky in my boats and had to change the previously installed programing. Worth a look.