Yes. They will let you ashore if you arrive today. No quarantine. Nobody knows the future though.
Avoid Las Palmas
(on island Gran Canaria) and Santa Cruz
(on island Tenerife) both have extreme numbers of Covid cases now.
You can prepare comfortably in Marina Calero in Arrecife on island Lanzarote. It is relatively Covid free and has most facilities you may want (travelift, mechanics, etc.)