Be careful with those experiences
Some years ago while we were making a passage and the boat was sailing slowly (3.5/4K) I decided to do that with my 6 year old boy and let him go with a rescue boy on a long line. We started to pull him till the moment he saw he was crying. I cut lose the line, turn way and pick the boy. The pressure in his body has hurting him.
I saw once 3 big guys recovering a crew member that went overboard on the back of the boat. The boat should not be making more than 6k and the force that they were making was so big that the guy lost the shoes, the trousers, well, everything
I remember to hear about an horrible story between two brothers on a boat. One fell overboard and was tied by tether. He drown while the brother tried for several minutes to put him on board.
It is difficult to stop a sailing boat specially if it goes downwind and the crew is small or if it is a guy with its wife and she does not know much about sailing.
I suggest that if the one in the water is conscious and the crew is small the best thing would be to tie a long line to the harness, cut the tether, let the guy go and recover it by the stern calmly, using the stern ladder.