Jonathan, We used a single piece of equipment for over 10 years. Multi purpose was a key factor for many items.
I wanted a fender board for offset and to keep hull clean. This fender board was about 30 " in length. Both ends had a few folds of firehouse on each end connected with a single layer on exterior. The folds have about a 4 inch offset. This offset was sufficient for most people boarding for the dock to have good footing when boarding. This devise had hangers of 3 strand
nylon which we secured over the turnbuckles center cross bars.
The turnbuckles and shrouds provide hand grips.
Material not mentioned : clear doug fir 2"x4" oiled
The dock height and gunnels of inflatable were the the basis for height positioning.
The lower support arm on our Monitor at times had a basic rope ladder in velco tube as well.
A Life Sling and the tackle , sufficient in purchase, to allow the weakest member to haul you or a small whale to deck level!
Each Jason is unique, post some pictures of your floating home.
Mike Mills