When I built the drive for my sternwheeler (which has a worm drive) I fixed the motor end of the worm shaft (which is about a foot long and passes aft through the transom) but left the worm end free. I slid a brass bearing on the shaft, encased in a wooden block approximately the right size and applied some adhesive.
I then engaged the worm and wheel, ran the motor and clamped the wooden block in position, positioning it for minimum noise and maximum speed. Once the glue had set, I stripped it all down, slid some brass tube onto the worm shaft so that it made a bearing in the transom and that was that. Not the most elegant engineering solution, but it seemed to work well enough.
Rick