You may not be able to do this one within one reservation but with a little planning and a early start this will be fun and will stretch your imagination.
When you reach R”26” on the ICW heading toward Clearwater you will see the “PUB” Waterfront Restaurant and Lounge. A 36-foot boat fits nicely. Enjoy!
Be careful when you back out the slip the channel is narrow ("The Narrows") and you will ground.