Since we feed her around 5 ish to 6 ish and she generally eats what we eat, we've adjusted to all eat at the same time. All that to say the galley and salon table are free and avaialble until it's bed time. She goes down around 7:30 ish. Futzing with the table and pack & play crib isn't optimal but works. Over the warm summer, once she's down, we retire to the cockpit, outside aft deck chairs or rear main cabin. She sleeps well and once "out", it takes some real noise or jostling to wake her. Light background music outside and calm chatter isn’t generally enough to rile her. (Maybe we’re lucky?)
Maddie is our only child so that certainly makes things easier. Now, the boat, moorings and yacht club culture is old hat. Her first trip to Catalina was at 4 months. We practiced slip sailing a couple times prior. We’d wedge her car seat between the far end of the salon table and seat back so there was nowhere for it to go. We watch her like a hawk in and out and use one of those kiddie harness leash things that looks like a panda back-pack with a long tail to secure her to the binnacle while mom and I grab mooring lines. When she was smaller, we would sit her in the car seat or pack and play.