for a wet entry I don't think anything beats sand.
for a dry entry I'd go with a floating dock with little clearance,
you should be able to slide your hips out of the boat onto the dock.

ideally a boat should never contact anything but water. the proper way to
enter a canoe or kayak is with the boat afloat parallel to the shore. you
need enough depth of water at the shorline to do it. that requires a
steeper gradient than has been suggested in other responses posted here.

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