It could be many things. If you have a Vetus waterlock in the exhaust system this can set up a vibration if it touches any part of the boat structure. It could also be airborne resonance that might be reduced by extra sound proofing, but this is difficult to achieve in a traditional boat structure.
I remember sailing in a Sabre with a Brit 10 where you could tell cruising revs by the grid in the grill pan rattling!
I have had a 20 year affair with a 1GM with various different transmission arrangements. The smoothest was a rigid coupling and a floating shaft, but the banging of the shaft in the tube was worse than any resonance. Next iteration was a fixed shaft and coupling, which knackered the shaft bearings. Latest is a fixed shaft and a Bullflex, which overall is best, but resonance is back!
Every time I think it a problem, I remember its predecessor was a Stuart Turner!
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