Hi David, Good luck with new boat...I usually get on/off
dinghy from cockpit as it is lower than bow and walk dinghy forward or aft. Also dinghy a little more steady/protected brought along lee side of boat and can be secured to make transfer a little less of an adventure.
I always try to lower myself and gear nice and easy and
transfer weight gradually...same with switching places
holding on to mothership to dampen wave motion and
Come on down for a sail or we'll sail part way.