I would love to take my dog on a bareboat trip but even as a owner it’s not allowed. The other issue is getting there. More and more airlines are refusing to transport pets since conditions are not great on airport ramps and it’s a traumatic experience for the dog. I was aboard a lagoon 440 private boat where the owners had a great lab on board however he had done considerable damage to the flooring. When the boat moves dogs instinctively try and dig their claws in and scratches result.
I don’t think you will get any lessons learned because in over 100 plus weeks sailing in the BVI I have never seen a dog on a charterboat.
G