Such tables can be tricky, but hopefully you don't need to reach the element in one-go.
I would suggest a step-by-step approach, that would mix CSS or xpath selector depending on the case:
$table = $this->getModule('WebDriver')->_findElements('table'); // find the table
$row = $table->_findElements("tr[td[contains(text(), 'Boat Trailer')]]"); // find the row in the table
$I->click("//a[contains(text(),'Actions')", $row); // click on the Action link within the row
$I->click("//a[contains(text(),'Edit')"); // click on the link Edit (only one should be visible)
Note I did not test the code, so you will certainly have to adapt it using Codeception documentation.