Yes the prop bushes are designed to reduce damage to props, gearbox and motor just like a shear pin . Ally props used to be a lot kinder on strikes than the stiffer harder and heavier stainless but saying that some of the alloy now used is very hard.
Nothing is ever easy on the water but it is possible if conditions allow. We did it on a cat with a walkthru between motors after a log strike ( we think) and I have also seen a bloke smacked in the head doing it from the water. Unless you are a long way off and know exactly what you are doing and can do it safely a tow is the answer or even just making way at idle displacement speed as the bush may have enough grip to allow that to get closer to a tow. 5kg of sharp metal is not what you want to be playing with in a boat bucking around at rest.
Spare prop , block of wood and a prop spanner - some lanyards, spare nuts, pins, thrust washers gloves etc . Not easy to do on or in the water depending on boat and motor set up. You could get away with just a bush on the systems where the bush is not pressed in but you still may have a damaged prop.
Spares you really need is main and portable radios, gps , decent tow point and rope, , good anchor, parraanchor, all safety gear so you can get attention and if no auxillary a buddy boat to travel with along with logging on so if all else fails someone is looking for you. Last resort the epirb. If you have a sat phone it is a great back up out wide.
Glad to hear it was a safe tow in.