The link Gordmay posted is very informative and the SD 20 is a really good
Saildrive. Some folding propellers for saildrives have a rubber element between the hub and
propeller as an anti shock device to protect the splined shaft (
google "lost
propeller on Saildrive") Gori and Flexofold both have this element and a prop strike will cause it to slip and lose drive. There is also a chance that the splined collar that connects the upper and lower assembly drive shafts has failed , these also may have the torque limiting insert.
But before you haulout there is possibility that the pin linking the shift lever to the selector wedge has sheared off. It's accessible by removing the complete shift assembly. It's a long shot but it has happened before ( the pin dropped out , not sheared off).
Good luck , I'm interested to know how it works out for you ...and hope not too expensively.