I equipped my 2016 R31CB with a Portland Pudgy dinghy and purchased the sail rig. Check out pudgy website and there is a picture of her at sail. I love the pudgy, very versatile water toy/dinghy/rowboat/sailboat. She won't win any races but as a former sailor who switched to pocket cruising with the R31, I am happy with the choice. she has served me well. She rows especially well but is a kick to sail and set up anchor off the swim platform while at anchor --easy to do.
I have her own weaver davits with stand off bars but if you wanted to further improve rear visibility you can fold her snug to the transom. She is narrower than many inflatables. I use a block and tackle with a jam cleat to haul her up quick and easy even in a wind and sea. The leverage would be tough if you tried to haul her up without the pulley. You can also use the hydraulic lifting rigs offered by weaver. I have the advantage of my flying bridge superstructure on which to mount the block
The pudgy can stow the full gear (oars, tiller, outboard tiller extension etc plus bagged the sail and telescoping mast in her side compartment, but its humid in there so a keep my collapsed sail and mast (~5 feet long rolled up) either in my kayak topsides or in a cockpit locker...not sure how the storage on the R29 would work best but there should be plenty of solutions.
On the sail boat we had an inflatable life raft in a box that cost significant dollars to be inspected and recertified every couple of years...The pudgy serves as an emergency life raft although we have not sprung for the offshore survival canopy since we are doing coastal cruising only.
My wife and I are both lean so the pudgy works well for us and is a 4 passenger dinghy, however for folks well over 200 lbs this compact solution just might just be too tight. The Pudgy has been used aggressively for 6 years and has held up perfectly. I hope this info is helpful.
