I've found that the dinghy is the easy route
. That said we have a fairly dog friendly swim step. The problem is when the dinghy is on deck
and the wharf is meant for fishing
boats. Last summer while a three week trip my first task upon arrival was hoisting our 85 pound Labrador up onto those monstrosities. We had stopped in eight ports
and had the luxury of floating docks in one.
Thing is if you want your dog to come along you have to put in the effort. Our Jack is well worth the effort and he wouldn't want to watch us leave without him.