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if you have a pick you can bust up the rocks.
you can row backwards, its slow, but sometimes it works.
if the wind is strong enough you can try using the sail to break free.
You -might- be able to push it when a storm occurs. But I would just make sure the land under it is raise then wack it to get the mats back.
1. keep your rudder STRAIGHT. This is important, if your rudder is turned it's very hard to start moving from a standstill even if your boat is floating in deep open water. Straighten out, and paddle (speed 1) forward or backward to start moving. Then, either move directly away from whatever you're stuck on, or once you're moving pivot against it to free whichever side is stuck, then move straight away from it until you can steer clear.
2. If the water is shallow enough to stand, You can PUSH the boat. Jump off and shift-run against the boat, it will move slightly. Once you get even a little distance from whatever its stuck on, you should be able to jump back on and shimmy away from it.
3. As has been mentioned already, you can destroy the boat, just be mindful of the nails because they will sink to the bottom.
https://www.nexusmods.com/valheim/mods/1349
I realized the rudder thing and finally managed to get free.