We are new owners of an R-31S. A significant part of our motivation to buy a boat was so that we could vacation with our dogs. We have THREE dogs - Sapphire is a 13 year old, 70lb Aussie mix with bad hips; Toby is 1-1/2 old, 95 lb German Shepherd; and Molly is a 4 month old Black Lab. Toby has no difficulty jumping in and out of the cockpit and is pretty good at waiting until it is his turn. Molly has just realized that her can clamber out of the cockpit and is quite proud of herself - so a bit more discipline is needed there. Sapphire is coping really well, despite her age and physical problems. We got her a fold-up doggy ramp that we use INSIDE the cockpit to ease her up to the gunwale at which point she can use the plywood step sitting on the dock. The ramp is a bit cumbersome to fold and unfold and does take up room in the cockpit, but it is a godsend for our aging Sapphire.
They all settled well into sleeping onboard, but we can tell that two younger ones really miss running and chasing that they do at home (6 acres). On our maiden puppy cruise, they seemed pretty content for the first couple of hours, but began to get antsy - so we headed back to port.
Since we hope to do a lot of cruising in the canals and great lakes, we are work on that.
Have not yet introduced them to the dinghy.
Welcome suggestions about their potty needs.