The most bang for the buck in a battery is going to be one that has caps, and you have to maintain, in a quality name brand. They will have the largest available amp hour capacity for a given group size.
Amp hour capacity or reserves minutes if amp hour is not stated, determines run time for any given load so, while an AGM may cost two or three times the cost of a battery you have to add water, if they are both the same capacity, the AGM will not last any longer with the same load.
The AGM's are a few pounds lighter, so having to constantly take it in and out of a canoe, might make a difference. A group 31 in any kind of battery is going to get real old constantly lifting and carrying that thing.
Having to constantly lift the thing, I would probably lean toward the group 24. With your maximizer, you will get much longer run times than the standard TM and that canoe is going to push pretty easy, just don't do a lot of running over half speed until you get a feeling for how long it will run. 55# of thrust is like an outboard on a canoe.