My marina (yacht club) will take my boat from my slip to the gas dock for servicing (fuel, water, pump out) when I am not there. They charge the regular hourly rate. This would probably be the same cost as getting a septic truck to come out for just 25-50 gallons of septage. Most septic pumping companies can do this and have long hoses for tanks that are remote from the street or driveway.
If you're looking for specific company name recommendations, I think you will have better luck posting specific, detailed, location, size of holding tank, etc.
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