I tries really nice artificial grass. Didn't work a dog poop.
But it did look nice, but not very nautical.
Was even better when I cut a hole over top of the emergency tiller deck plate, removed the plate cover and presto...great practice putting gree:n.
Sorry, not helpful I know, but the reality is for anchoring....dingy the dog ashore and need a landing, or have the dogs go on the boat. Not all will if you give in too early....vets have said they can go for days holding it. Most people give in.
Sure you will get lots of suggestions...keep an open mind while the dogs are pups and maybe trained a little different.