It's possible that that Rudee Inlet (southern end of the boardwalk) might be hospitable to sailboats (before the General Booth Bridge), but I'm not 100% sure. That opens up into the ocean, vs. Norfolk harbor which leads to protected waters of the bay. So, even if its possible it might not be favorable.
North Va. Beach, (i.e. Lynnhaven Inlet) is not accessible because of bridge clearance ... and has some treacherous shoals to boot.