My experience is similar. Two years ago I went in (5'8" draft) with plenty of water going around the outside of RH harbor, and left -- again with plenty of water -- in the short channel across the middle of the harbor.
I was in Swan Creek last year a couple of times and there were no issues inside the bar getting to Rock Hall. I don't have enough local knowledge to try crossing the bar directly into RH. I do skip G1 (I think) and honor G3 to get behind the bar on the way to Rock Hall or Swan Creek.
sail fast and eat well, dave
beware "cut and paste" sailors.
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