If "you sit at the helm for hours on end, daily" then your not cruising,
your driving your boat.

With windvanes or autopilot, the typical cruising crew only need to maintain
a watch in the cockpit and this is usually a very lax or relaxed routine.
Comfortable spot in the shade with a good book..

True that in bad weather the helm may need attention but, in my experience,
when the helm becomes too much for the AP or Vane, then it is also too much
for a helmsman and time to go to storm sails and a better boat balance.

And "Getting out of shape", I don't think so.. Most sail handling, winch
grinding and anchoring activities are very strenuous and often aerobic. Not
to mention dingy rowing and swimming.. After all, that's what we do it for..

Some cruisers feel the same as you and do exercise routines that lend
themselves to the confines of the boat or go ashore for long brisk walks
(sounds like sight seeing to me).


--
My opinion and experience. FWIW

Steve
s/v Good Intentions