I think it would depend how hard you hit, what you hit and the disgn of a keel. Also what noises, feedback you get when you hit.
When you hit something like a deadhead you tend to glance over top pretty nicely from my experience.
The last time I was aground, I didn't even realise it until I got into port and saw about a foot of soft mud on my skeg.
But if you hit a rock hard especially with a fin keel, or if you hear or feel any grinding or cracking, definitely get it checked out.
The other thing about grounding is, sucking mud and sand and overworking the engine
trying to get off will often lead to dome engine
I've been aground more than a few times I don't generally sweat it too much, but I like heavily built boats with long keels.
Edit: I should also note, if it takes a lot of effort to free her, like if you need a tug or a truck on shore or something to drag you off, you should definitely get it checked then too.
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