Realistic Thames estuary stop overs, working down the coast:
Harwich Harbour - Bit dead
Suffolk Yacht Harbour - Load of yotties and deader still, Fantastic views of the container terminal.
Shotley Point - As dead as the above two.
Titchmarsh - good but out on it's own.
Brightlingsea - Yotties
Bradwell Marina - Yotties, useful for topping up if you are nuclear powered.
Burnham Yacht Harbour - 300 metres on opposite side of river to Wallasea as mentioned. Both Burnham and Wallasea give you the options of tieing up safely on hammerheads off Royal Burnham, Corinthian, Burnham Sailing and of course The Ship as town centre. Quite vibrant and loads of people around even if they all do have six fingers and webbed feet.
Gallions Point Marina - Puts you inside the Royal Docks but unless there is something at Excel it's residential marina. Lock 5hrs either side. Before the barrier so you avoid speed / security issues.
West India / Millwall Dock - Access through the tide and could put you in the heart of Canary Wharf if that suits your purposes. Bit painful to sort the reshoot of Bond with British Waterways but doable. Only just past the dome so just as you come into the advisory speed limits.
Limehouse Basin - Lock is 4 hours either side. Bit residential really for your purposes but could host something.
South Dock - Good, mostly accessible lock but tide rips past making entry difficult. It's in Rotherhithe so expect your boat to be stripped by the time you get back from the pub!
St Kats - Great if you get in but as before the lock is 1 1/2 to 2 hours either side so you need alternate options as staying outside is not for you.
Other than that for Thames you need to be down to at least Cadogan Pier in West London for the boat to safe riverside.
Chatham - covered in my last post but surprisingly quite a long drag down the Medway.
Ramsgate - Good marina and town centre but whether you would do any good there I'm not so sure.
You want Barbie? Just shout and you never know we might even have live music on the bow of the boat again.
http://youtu.be/EKjwIxo6uo8