Welcome aboard! I just did a dive from an International Folkboat
(26 footer) yesterday. I had to use a dinghy
along side and put my gear
on while I was already in the water
. Doable but not comfortable. I used to dive from my Mariner 35 but again it required a dinghy
alongside. The sugar scoop or a homebuilt swim step at the stern would certainly help. Some of the smaller motor
sailers have quite a few different stern options.