I use SF's method with a slight refinement: I have a dacron painter on the SS eyelet through-bolted to the RIB, and run to the aft rail, and I run looser polypropylene lines from each D-ring to the stern quarter extrusions.
This is strictly for motoring or light air sailing. Sailing in decent winds, I haul the RIB onto the foredeck. As I am switching to a nesting dinghy and a Portabote, I will likely only tow tenders short distance in the future.
I don't have davits and question their use in anything but tame, coastal sailing, for which they are a nice convenience.