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.)
barnakiel
Las Palmas
Canary Islands