Hi ItsMehSimon.
Unfortunately,There are limits to what you can do on the ship simulator series.(no offense to vstep) if you want to,you could only do that with mission editor. if you want to free roam in an environment,it is simple.No waypoints needed. Only title,description and a start object.BUT, you could choose only paint schemes for:P6 and the Sailing yacht-Selsey I
And remember,NEVER Upload a mission with no waypoints.