Got a Brigantine stuck the same way, yesterday night. ( a sloop too bug get unstuck pretty easily)
1- You can respawn on other bed u just have to die a lot and got the bug bug repport "connection error" then you are unable to connect ( button disapear) you click on "Join new server" continue like its gonna be your first time and you will get a message "Time Out" then a freeze meaning you are loading.
2- My friend unstuck the boat but got it again stuck at the moment where it has switch server.. so well ^^ still no solution
Hope to get our boat back :'D
PS : I'm on EU-Server (same prob)