Re: looking for dinghy/tender ideas
A nesting dinghy may well be what you're looking for.
We carry two 9.5 foot plastic kayaks and a 7 foot rollup inflatable that rarely sees the light of day. Inflatable kayaks are certainly a more stowable option but the effort involved in paddling them is harder that the rigid ones.
There are also folding kayaks with collapsible frames that might be better, but they too have canvas skins that might not like barnacles and sharp rocks. Also, as much as we love our kayaks they are not suitable for serious grocery runs...
1984 Fast/Nicholson 345 "FastForward"
".. there is much you could do at sea with common sense.. and very little you could do without it.."
Capt G E Ericson (from "The Cruel Sea" by Nicholas Monsarrat)