An inflateable (and diving from it) would be great if we had one.
Weight and storage are the big issues. A 3 to 4 person inflatable is 60 pounds and too big for our lazarette, so we'd have to carry on deck and they don't tow worth a damn. Add the weight of an outboard (they don't row well either) and you've got the equivalent of 1 persons dive gear, including a pair of tanks.
I like the idea of a small powerboat to dive from, but don't have a tow vehicle (our boat gets craned in and out and stores for the winter on a cradle, no trailer). And for where we wish to go, you'd want more than a small open boat. The expense of a bigger boat, gas maintenance, where to store it make it that much more prohibitive, especially for occasional use. It's a 20 mile trip across Georgian Bay to our first "target" and weather can change quickly out there.
Our sailboat diving method to date, has been:
Remove the wheel (steering) and store. Most sailboats with a wheel, you can remove one nut, slide the wheel off (watching for the "key") and stash out of the way. We do it quite routinely at anchor.
Assemble gear in the cockpit, one diver on each side.
Lower the lifelines on each side.
Put on wetsuits, then BCD, mask, fins etc.
Ease your butt up onto the Coaming and roll back into the water (about a 3 foot drop).
We're still working on reboarding. To date it's been climb up the ladder. Experimenting with using the boom to lift BC aboard and/or suspending a "milk crate" so you can remove weights and place them in the crate before re-boarding (especially for those with belts, instead of integrated). I have a new ladder to install which should ease it a bit.