Drive very fast and minimize your time on the highway!
On the other hand there is not much you can do. The boat dosen't weigh very much compared to its windage. That will be the biggest factor as the trucks pass you the headwind will blow you to the side. Actually I have found that if I am doing the passing the turbulence is less as I am pushing through their headwind instead of getting knocked by it. This could work only up to safe speeds for your vehicle and boat. The other option would be having more weight on the trailer to hold it down. (Then your fuel economy goes to hell)
Don't know if this helps but good luck.
Clayton