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As above, many options but all based upon the dog, the dock, and the boat. Old, gimpy people also require exploring options.
We've had several dogs aboard. Each of them had their own ideas about how or how NOT to get aboard. Some dogs don't like docks at all, or boats. Some are perfectly content with ramps or dock steps.
Our own, now deceased, 60 lb American Black and Tan Coonhound, in her youth and right up to this summer, found it most convenient to leap, gracefully like a gazelle, from dinghy or dock to the boat, but even more convenient to leap off the boat to the dinghy or dock. We found it necessary to use dog gates to keep her away from parts of the boat that overlapped the dock. She would not tolerate being lifted by harness.
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