We bring a Davis Stirrup Swim Step with us e.g.

https://www.westmarine.com/buy/davis-instruments--stirrup-swim-ladder--142218

We tie it to the dinghy (somewhere strong). The trick is to make it the right length. It is light and works for us but is still a bit of a struggle.

Once the boat we chartered had a “stainless” dinghy ladder included. Turned out to be very badly rusted and broke. We were lucky to avoid a nasty injury from the sharp parts. So inspect carefully.

Peter