I've stripped gears on a couple of servos, but only under extreme duress, and never on a boat. Damaged a gear on a 9 gram servo when I crashed a plane- bent the rudder back on itself which forced the linkage and took out the final drive gear. i also managed to break a carbon fibre gear on a Hitec servo trying out a servo driver board, which sent it past its stop limit- user error!
I think much of the desire for over strong servos is based on misunderstanding of force, and a balance of what is possible and what is necessary. For the vast majority of model boats, even large ones, the standard 3-4kg.cm servos are more than up to the job, and many boats can get by on a good deal less.
Models which can put a bit more strain on servos are things like yachts where a servo is used in in place of a sail winch, or many model submarines where the shaft seals can increase friction.