Not probably feasible...and I'm not sure you would get a dealer/service center to do that anyway. Spilling oil/fuel onto the water can result in hefty fines.
Best approach is to pull it onto a trailer and take it to your dealer. If that is not possible, then motor it to a marina and have them pull it, perform the service, and then put it back in the water. They do this kind of stuff all the time.
Ask Kevin (Megabyte) about how he gets his services done. He has a 2520 and no trailer. I believe he motors to Deal, where Tri-State Marine will haul it onto one of their trailers and take it to the land-based shop.