A lot depends upon the boat, as well as the crew. Some boats will take care of even a less experienced sailor - other boats are simply not up to the task.
With the right boat, you then need to look at experience. You will need some - things will break, scary things will happen, you need to know how to deal with them When you have the boat, start sailing it - in all sorts of weather. Initially inshore, then cautiously a few overnight offshore trips. Make sure you have the right safety equipment. Be cautious, take it slow, get advice from experienced sailors...as you build experience, you'll understand better what it will take - and when you will be ready.
Boats are expensive to own and maintain, a lot of work to sail, but a well-found boat and reasonable experience will take you anywhere.