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If I choose to live onboard full-time, how do I maintain residency in the U.S.?

Living aboard does not affect your citizenship or ability to spend time in the United States

Living aboard the M/V Narrative full-time affects neither your citizenship status nor your ability to spend time in the United States. Residency and citizenship are two different things, and the only way to lose your U.S. citizenship is to formally renounce it.