The obvoius answer is a radio remote control, like for model
airplanes, with tiller, gearshift and throttle controls. A wired
remote at the prow might do as well.

Carrying the anchor aft and out side the rig to be dropped from the
cockpit has worked in the past, and dragging a long anchor line out of
the anchorage has also been done, pausing in deeper water to
consolidate the situation.

Different situations demand different approaches.

Terry K