MN-
Your swim step and inflatable mount is exactly as mine. So here is my set up. To the Starboard edge of the step I have a mounted folding ladder. It is the model that is rigid standing upright in the out of water position. Directly above this from the overhead aluminum roof awning, I have a knotted 3/4 inch line that is coiled and hanging directly above the ladder position. The last action particularly if there is assistance on board, I drop our inflatable into the water and prepare the 4 part rope hand winch use to raise the inflatable as the tool to assist in pulling the soul out of the water. I have a second suitable shackle located with the overhead knotted line. There is a two loop line prepared and hanging close by to go under the persons shoulders to allow the hook on the line winch to attach.,(Of course, persons outside of the cabin area are required to wear a float coat or vest) I can assure you that it takes two persons or one really strong person to physically pull a soul out of the water even with this application.
Given a situation or a plan of action for two- Man overboard, release the ladder and the line and drop it into position, now here I am adding a action if time allows. I have placed onboard one of those suction handles that you see for the shower aiding handicap souls extra holding aids.
I place that on the side of the boat near the ladder. This allows the person in the water a grip. I have been in the water, removing line from the wheel and can tell you this- climbing on these ladders that extend into the water with a poor hand hold to pull yourself out is near impossible if you are anywhere near exhausted. You tend to drift under the step with the pressure of your climbing up with no or poor hand holds. or firm side of the boat for the ladder to rest against.
Having this portable handhold, (Yes I can anticipate the neigh Sayers will comment on the fear of the hand hold coming off as it is only a suction fix.
I can assure you that when secured it will be of comfort to have it available so discount the concern. Look at it as "Any Port in a Storm" addition.
As my boat has very narrow side decks requiring one to hold on to hand holds and hand rails,as i move forward,prior to anchoring when I am single handing and a concession to my late wife, the ladder is released, the line is released and the portable handhold is placed on the side.
I then access the anchor, using the side deck when others are on board, if single handed, I access the anchor area through the escape hatch on the bow deck, avoiding the fear of overboard as a single.
Little bit long here but recovering a overboard soul particularly if there is any body weight or physical difficulties involved is near impossible without aids.
As a alternate, one can tie a line from a midships point and to a aft or bow point allowing enough slack to place the line in the water, this can be used as a foot placement to scoot from one point to that which allows action to complete hoisting the soul out.
Here's a better picture of the dink up and secured.