We have a nine foot Zodiac with a roll-up high pressure floor and stow in the stern berth when underway. I use a spinnaker halyard to raise and lower it to the water. It's not bad for us to carry when the floor has been removed - I'd guess about 40-45 pounds.
We have a Forespar Novalift to handle the motor.
I agree it's a compromise but seems to be the best for us. The only other option I can see is davits but it's had for me to imagine a RIB banging around back there in rough seas.
PSC 31 #84