We had both a set of the Marquipt stairs and one of their lightweight removable ladders for our high (6ft) freeboard Hatteras 56MY. We used the very easy to deploy ladder if we were only going to be transient, and the heavier, harder to deploy stairs of going to be moored for awhile. On some fixed docks, only the ladder really worked as the dock was too high and narrow for the stairs. The boat was ingeniously designed with a portlight below each boarding gate so that someone who was somewhat spry could use that as a step if needing to jump on/off quickly. For floating docks, the swim platform was another option but required a bit of a hop, thence up the ladder to the aft deck, Seldom used for that purpose.
I really liked the Marquipt stuff and got pretty handy (after a few pinched fingers and hands)at deploying the stairs, which is easiest done from the dock, but with practice doable from the boat.