Cool pictures, looks like it was a great trip.
We have alot of tide here in the northwest, and rocky shoreline to boot. I have found I like to carry a couple hundred feet of decent line. When I come into an anchorage I drop the hook in deep enough water that the boat will stay afloat when the rode is pointing toward shore. I put a pulley and buoy (usually a fender) on the end of the anchor rode, then create a loop of line that the boat is attached to. The loop is secured to something solid on the beach, looks like you might have to use another anchor on those long sandy beaches.
Now I can beach the boat and unload the camping gear or whatever, then pull the boat out to the to the pulley on the anchor rode using the loop of line. You can leave whenever you want that way, but it can be alot of screwing around, especially at 1:00 am (don't ask how I know this ).
The other option is just to plan arrival and departure around tides, kind of a novel approach that I find difficult with the light winds around here:-)
I did read on the web site about the couple that took a bay river skiff to mexico, and used fenders to roll the boat on and off the beach. I haven't tried that one yet. It might be dicey with the weight of my CS17 loaded, and even more so with your 20.