Ronseal used to do a water based varnish called Diamond or similar.
Personally, unless there is a good reason to use varnish at all, I now use Osmo Polyx on all my projects. Expensive but very good, lovely finish on oak etc. Outstanding resistance to water, dries to a smooth finish in 24-hrs depending on temperature.
Yacht varnish is a very old finish and I can't think why I would use it in preference to more modern finishes. Most commercial furniture will be polyurethane finished.
As it sounds as though you have finished the floor, you will have to give it time. Solvent based finishes "cure" by a combination of evaporation and oils air curing. Three thick coats is maybe overkill and the reason why it is taking a time to harden. There may also have been wax in the wood that won't be removed by sanding.
What I would have done is sand it, scrub it with methylated spirit (windows open!!), give it one thin coat by adding about 25% white spirit, or by dipping your brush into a pot of white spirit, then a light "denibbing" with a non-woven abrasive or green pan scourer. The thin coat allows more soaking into the fibres. I would allow at least 48-hrs between coats