"Most marinas do not allow live a boards to have dogs. "
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We are liveaboards in Fl and most of the marinas we have encountered allow dogs. Many liveaboards have dogs. In fact my then-5year old grandson asked me whether all boats had dogs since there were so many in the marina.
We have two Yorkies and they are great dogs for the boat. We've had them since they were puppies so they have grown up on the boat. We've trained them on the potty patch so when we cruise we don't have to worry about taking them to shore.