I am coming in late on this thread ...

We had a Tayana 37 and needed a way to get our dogs into the dinghy.
What I did was build a platform (2x3) and affixed lines on each
corner. The front and rear lines on each side ran to cleats on the toe
rail. This way we could adjust the height/angle of the platform to
match the dinghy. The dogs had no problem jumping on to the platform
then into the dinghy.

What we discovered was this platfrom made a great swim platform as
well. It could be lowered right to the waterline and made it easy to
get in and out of the water. When we were done using it we stowed it
in a lazerrete.

Jerry