Unfortunately, live-aboard cruisers do not just "go out for a day or two" unless they are moving to another destination
. The boat is their home and is not moved unless they ready to go to a new place.
- - Taking an person or group of people out for compensation/money constitutes a paid charter
activity that is normally forbidden to all "private recreational vessels" which is the classification of most live-aboard cruisers. As such the people on the boat would be risking serious fines and penalties if they engaged in such activities especially with people they do not know or have not met before. So it highly unlikely that anybody would be willing to do what you request.
-> -> But you can certainly visit the marinas
and docks and look at all the "foreign boats" and if the owners are on board their boats start a conversation with them asking about the lifestyle. It is very likely that they will invite you onto their vessel for conversation and refreshments and give you the "25 cent tour" of their "home." Doing this will start you on the way to learning
about the lifestyle.